Task: To heat slice of potato and place it in the trash can.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.901          3.75           0              270            0
   1  Potato          -2.805         0.658          4.649          0              90             0              73
   2  ButterKnife     -1.094         0.795          0.337          0              0              0              74
   3  ButterKnife     -0.400         0.900          2.932          0              0              0              79
   4  Spoon           -2.864         0.936          3.209          0              0              0              63
   5  Spoon           -0.400         0.901          2.932          0              0              0              79
   6  Fork            -1.878         0.662          0.464          0              90             0              59
   7  Fork            -1.637         0.928          0.348          0              0              0              56
   8  Pot             -0.535         0.928          4.274          0              0              0              60
   9  Egg             -1.219         0.961          0.641          0              0              0              56
  10  Cup             -2.549         0.935          3.673          0              0              0              63
  11  Cup             -0.139         1.773          0.297          0              0              0              55
  12  Plate           -2.191         1.777          0.160          0              0              0              52
  13  Plate           -1.746         1.777          0.205          0              0              0              51
  14  Knife           -0.228         0.926          2.329          0              0              0              79
  15  SoapBottle      -0.228         0.900          2.731          0              0              0              79
  16  SoapBottle      -2.170         0.927          0.348          0              0              0              56
  17  SaltShaker      -0.400         0.896          3.133          0              0              0              79
  18  PepperShaker    -1.770         0.924          0.433          0              0              0              56
  19  PepperShaker    -1.911         1.769          0.068          0              0              0              51
  20  Lettuce         -0.572         0.980          2.329          0              0              0              79
  21  Mug             -2.722         1.181          4.575          0              90             0              73
  22  Apple           -0.143         0.956          3.334          0              0              0              79
  23  Apple           -1.904         0.984          0.602          0              0              0              56
  24  Egg             -0.657         0.933          3.535          0              0              0              79
  25  Plate           -1.193         1.777          0.251          0              0              0              53
  26  Fork            -1.007         0.796          0.281          0              90             0              74
  27  Bread           -2.864         0.940          1.983          0              0              0              77
  28  Apple           -2.847         1.242          4.278          0              90             0              73
  29  Lettuce         -2.480         0.980          2.573          0              0              0              77
  30  Spatula         -0.819         0.943          0.650          0              0              0              56
  31  Knife           -0.228         0.926          3.133          0              90             0              79
  32  Potato          -3.022         0.961          3.302          0              0              0              63
  33  Tomato          -2.628         0.999          3.395          0              0              0              63
  34  Cup             -0.400         0.900          2.731          0              0              0              79
  35  SaltShaker      -0.572         0.896          2.530          0              0              0              79
  36  PepperShaker    -0.486         0.896          3.133          0              0              0              79
  37  ButterKnife     -2.706         0.935          3.302          0              0              0              63
  38  SoapBottle      -0.692         1.773          0.160          0              0              0              54
  39  Pan             -2.583         0.900          2.045          0              270            0              77
  40  DishSponge      -2.995         0.900          2.573          0              0              0              77
  41  Pot             -2.805         0.632          4.278          0              180            0              73
  42  Spoon           -2.628         0.936          3.580          0              0              0              63
  43  Mug             -0.572         0.895          2.731          0              0              0              79
  44  Bowl            -2.738         0.295          4.575          0              90             0              73
  45  Drawer          -0.325         0.696          0.413          0              0              0
  46  Cabinet         -0.595         0.490          0.648          0              0              0
  47  Cabinet         -0.555         0.490          0.646          0              0              0
  48  Cabinet         -1.591         0.490          0.646          0              0              0
  49  Cabinet         -1.554         0.490          0.646          0              0              0
  50  Cabinet         -2.550         0.490          0.646          0              0              0
  51  Cabinet         -1.514         2.046          0.392          0              0              0
  52  Cabinet         -2.474         2.046          0.392          0              0              0
  53  Cabinet         -1.478         2.046          0.392          0              0              0
  54  Cabinet         -0.518         2.046          0.392          0              0              0
  55  Cabinet         -0.479         2.046          0.392          0              0              0
  56  CounterTop      -1.366         0.952          0.349          0              0              0
  57  Sink            -1.108         0.926          0.340          0              0              0
  58  StoveBurner     -0.254         0.922          4.672          0              0              0
  59  Drawer          -1.824         0.696          0.413          0              0              0
  60  StoveBurner     -0.535         0.922          4.274          0              0              0
  61  StoveBurner     -0.254         0.922          4.274          0              0              0
  62  StoveBurner     -0.536         0.922          4.672          0              0              0
  63  CounterTop      -2.780         0.971          3.487          0              0              0
  64  Drawer          -2.323         0.696          0.413          0              0              0
  65  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  67  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  68  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  69  Toaster         -0.286         0.861          3.520          0              270            0
  70  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  71  LightSwitch     -0.064         1.447          1.996          0              270            0
  72  Window          -3.075         1.593          1.361          90             90             0
  73  Fridge          -2.802         0.0            4.427          0              0              0
  74  SinkBasin       -1.106         0.785          0.337          0              0              0
  75  Microwave       -0.358         0.917          0.224          0              0              0
  76  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  77  DiningTable     -2.733         -0.003         2.607          0              270            0
  78  Faucet          -1.077         0.920          0.028          270            270            0
  79  DiningTable     -0.488         -0.003         3.182          0              270            0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Step forward to face the table the coffee maker is on. | STEP 2: Pick up the spoon on the left side of the table. | STEP 3: Look up to face the potato on the back of the table. | STEP 4: Cut the potato on the table into slices. | STEP 5: Take a step to the left to face the white table. | STEP 6: Place the knife on the table next to the lettuce. | STEP 7: Step to the right to face the potato on the table. | STEP 8: Pick up a slice of potato on the table. | STEP 9: Turn left and walk across the room to face the microwave. | STEP 10: Heat the potato slice in the microwave and then remove it. | STEP 11: Turn right and walk across the room and turn left to face the trash can on the floor. | STEP 12: Place the potato slice in the trash can on the floor. | END