Task: To heat a potato slice as well as 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           -1.25          0.901          2.0            0              270            0
   1  Potato          -0.400         0.926          3.334          0              90             0              79
   2  ButterKnife     -2.686         0.900          2.177          0              0              0              77
   3  ButterKnife     -1.904         0.928          0.433          0              0              0              56
   4  Pot             -0.572         0.900          2.932          0              0              0              79
   5  Egg             -2.722         1.219          4.649          0              90             0              73
   6  Egg             -0.819         0.961          0.659          0              0              0              56
   7  Cup             -1.138         1.773          0.114          0              0              0              53
   8  Cup             -1.094         0.795          0.281          0              0              0              74
   9  Plate           -0.314         0.904          2.329          0              0              0              79
  10  Plate           -2.301         1.777          0.251          0              0              0              52
  11  SoapBottle      -0.143         0.900          3.133          0              0              0              79
  12  SoapBottle      -1.746         1.773          0.160          0              0              0              51
  13  Tomato          -2.722         0.696          4.352          0              90             0              73
  14  Tomato          -2.847         1.250          4.352          0              90             0              73
  15  Bowl            -0.139         1.770          0.205          0              0              0              55
  16  SaltShaker      -2.706         0.931          3.302          0              0              0              63
  17  PepperShaker    -0.572         0.896          3.535          0              0              0              79
  18  PepperShaker    -3.022         0.931          3.209          0              0              0              63
  19  Lettuce         -2.785         0.378          4.278          0              90             0              73
  20  Mug             -1.266         0.790          0.281          0              0              0              74
  21  Mug             -1.266         0.790          0.447          0              0              0              74
  22  Apple           -2.805         1.242          4.204          0              90             0              73
  23  Apple           -2.847         0.688          4.427          0              90             0              73
  24  Egg             -2.884         0.087          0.487          0              26.101         0              80
  25  Plate           -2.686         0.904          2.573          0              0              0              77
  26  Fork            -0.433         0.662          0.300          0              90             0              45
  27  Bread           -2.789         0.957          2.309          0              0              0              77
  28  Apple           -2.628         0.991          3.488          0              0              0              63
  29  Lettuce         -2.480         0.980          2.573          0              0              0              77
  30  Spatula         -1.932         0.677          0.300          0              90             0              59
  31  Knife           -1.716         0.688          0.464          0              270            0              59
  32  Potato          -2.377         0.926          2.309          0              0              0              77
  33  Tomato          -0.228         0.964          2.530          0              0              0              79
  34  Cup             -2.888         1.186          4.649          0              90             0              73
  35  SaltShaker      -2.706         0.931          3.209          0              0              0              63
  36  PepperShaker    -2.785         0.931          3.302          0              0              0              63
  37  ButterKnife     -2.437         0.928          0.518          0              90             0              56
  38  SoapBottle      -0.572         0.900          2.530          0              0              0              79
  39  Pan             -0.250         0.926          4.651          0              0              0              58
  40  DishSponge      -1.770         0.661          0.409          0              0              0              59
  41  Pot             -0.535         0.928          4.274          0              0              0              60
  42  Spoon           -0.228         0.901          2.932          0              0              0              79
  43  Mug             -0.403         1.018          0.140          0              90             0              75
  44  Bowl            -2.831         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
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn left and step forward to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and step forward and turn to the left to face the white table. | STEP 4: Cut the potato on the table into slices. | STEP 5: Take a step back and look up to face the table. | STEP 6: Place the knife on the table by the potato. | STEP 7: Step to the left to face the potato on the table. | STEP 8: Pick up a slice of potato on the table. | STEP 9: Turn around and walk across the room, then turn right 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 then turn left to face the trash can. | STEP 12: Place the potato slice in the trash can. | END