Task: Heat a potato slice and place it on the back of the counter to the left of the lettuce.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          -1.0           0              270            0
   1  Kettle          -1.431         0.949          -1.525         0              0              0              85
   2  Kettle          0.808          1.656          -1.801         0              0              0              66
   3  Glassbottle     -0.086         0.783          -1.707         0              270            0              98
   4  Glassbottle     -1.524         1.859          -1.838         0              0              0              70
   5  Spatula         -2.201         0.925          0.032          0              0              0              79
   6  Spatula         1.494          1.177          -1.345         0              90             0              83
   7  Cup             1.426          1.367          2.351          0              270            0              96
   8  Cup             1.408          1.265          -0.021         0              270            0              99
   9  Plate           -2.201         0.911          0.377          0              0              0              79
  10  Plate           0.041          1.656          -1.839         0              0              0              67
  11  Knife           -1.886         0.940          -1.534         0              180            0              75
  12  Knife           1.343          0.941          -1.672         0              0              0              77
  13  SoapBottle      -0.603         1.655          -1.764         0              90             0              59
  14  SoapBottle      -1.732         0.910          -1.965         0              0              0              75
  15  Tomato          0.183          0.959          -1.708         0              270            0              56
  16  Tomato          0.569          0.951          -1.534         0              0              0              77
  17  Bowl            -0.685         0.112          -1.535         0              0              0              64
  18  Bowl            -0.386         1.656          -1.801         0              0              0              59
  19  PepperShaker    -1.796         0.111          -1.635         0              0              0              84
  20  PepperShaker    0.528          0.112          -1.633         0              90             0              103
  21  SaltShaker      -1.886         0.905          -1.965         0              0              0              75
  22  SaltShaker      0.977          0.110          -1.071         0              0              0              62
  23  Lettuce         1.375          1.231          -1.345         0              0              0              83
  24  Lettuce         1.376          1.436          2.101          0              270            0              96
  25  Mug             1.070          0.957          -1.641         0              0              0              93
  26  Mug             1.275          1.362          2.351          0              270            0              96
  27  Apple           1.176          0.945          0.031          0              0              0              77
  28  Tomato          1.375          1.407          1.851          0              270            0              96
  29  Glassbottle     -2.039         0.911          -1.448         0              0              0              75
  30  Knife           0.936          0.803          0.377          0              90             0              54
  31  Plate           1.461          1.656          -1.264         0              0              0              69
  32  Fork            0.916          0.773          -1.068         0              90             0              55
  33  Ladle           1.343          0.955          0.372          0              0              0              77
  34  Potato          -1.957         0.952          0.377          0              0              0              79
  35  Lettuce         -1.835         0.979          0.291          0              0              0              79
  36  Kettle          -1.081         0.949          -1.81          0              0              0              73
  37  Pen             -0.703         0.913          -1.789         0              0              0              77
  38  SaltShaker      1.093          0.906          -1.331         0              0              0              77
  39  Cup             1.323          1.720          1.963          0              270            0              96
  40  Egg             1.375          1.396          1.976          0              270            0              96
  41  Spatula         -1.732         0.925          -1.793         0              90             0              75
  42  Bowl            1.401          1.656          -0.815         0              0              0              65
  43  SprayBottle     0.358          1.654          -1.839         0              0              0              67
  44  Pan             -1.079         0.945          -1.528         0              0              0              78
  45  SoapBottle      1.461          1.655          -0.500         0              0              0              65
  46  Pot             0.967          0.9            0.249          0              0              0              77
  47  ButterKnife     -0.682         0.9            -1.71          0              14.999         0              77
  48  PepperShaker    -2.445         0.905          0.377          0              0              0              79
  49  DishSponge      0.563          1.655          -1.876         0              0              0              66
  50  Bread           1.164          0.975          -0.16          0              300.000        0              77
  51  Apple           1.420          0.249          1.08           0              0              0              94
  52  Spoon           -0.316         0.775          -1.565         0              90             0              76
  53  Mug             0.149          0.914          -1.556         0              270            0              56
  54  Drawer          0.860          0.75           0.430          0              0              0
  55  Drawer          0.871          0.75           -1.134         0              0              0
  56  Sink            0.156          0.817          -1.801         0              270            0
  57  Cabinet         -0.868         2.005          -1.690         0              0              0
  58  Cabinet         -1.661         2.059          -1.684         0              90             0
  59  Cabinet         -0.817         2.059          -1.689         0              0              0
  60  Cabinet         0.860          0.402          0.665          0              0              0
  61  Cabinet         0.860          0.402          -0.552         0              0              0
  62  Cabinet         0.860          0.402          -1.365         0              0              0
  63  Cabinet         -0.244         0.402          -1.389         0              0              0
  64  Cabinet         -0.815         0.402          -1.389         0              0              0
  65  Cabinet         1.159          2.059          -0.334         0              0              0
  66  Cabinet         0.488          2.059          -1.689         0              0              0
  67  Cabinet         -0.193         2.059          -1.689         0              0              0
  68  Drawer          0.860          0.75           -0.699         0              0              0
  69  Cabinet         1.159          2.059          -1.019         0              0              0
  70  Cabinet         -1.611         2.005          -1.690         0              0              0
  71  Cabinet         0.832          0.401          -1.393         0              90             0
  72  Drawer          -2.105         0.75           -1.389         0              0              0
  73  StoveBurner     -1.081         0.941          -1.809         0              0              0
  74  Cabinet         -0.202         0.401          -1.391         0              90             0
  75  CounterTop      -1.973         0.945          -1.707         0              0              0
  76  Drawer          -0.375         0.75           -1.389         0              0              0
  77  CounterTop      1.164          0.946          -0.649         0              0              0
  78  StoveBurner     -1.081         0.941          -1.527         0              0              0
  79  CounterTop      -2.096         0.945          0.291          0              0              0
  80  Cabinet         -2.237         0.402          -1.389         0              0              0
  81  Drawer          0.584          0.75           -1.389         0              0              0
  82  Drawer          -1.795         0.75           -1.389         0              0              0
  83  CounterTop      1.5            1.197          -0.654         0              0              0
  84  Cabinet         -1.667         0.402          -1.389         0              0              0
  85  StoveBurner     -1.430         0.941          -1.525         0              0              0
  86  Drawer          -0.685         0.75           -1.389         0              0              0
  87  StoveBurner     -1.430         0.941          -1.809         0              0              0
  88  LightSwitch     -2.539         1.289          2.568          0              90             0
  89  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  90  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  91  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  92  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  93  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  94  GarbageCan      1.343          0.015          1.041          0              0              0
  95  HousePlant      1.440          1.153          0.593          0              0              0
  96  Fridge          1.417          0.0            2.101          0              0              0
  97  Window          -0.486         1.452          3.302          90             0              0
  98  SinkBasin       -0.063         0.765          -1.713         0              270            0
  99  Microwave       1.422          1.150          0.022          0              270            0
 100  Toaster         -2.066         0.900          -1.848         0              0              0
 101  Stool           -1.994         0.010          0.882          0              0              0
 102  Faucet          -0.096         1.041          -1.867         0              270            0
 103
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: TUrn left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn right and step forward to face the potato on the counter. | STEP 4: Cut the potato on the counter into slices. | STEP 5: Turn around and walk forward to face the right end of the counter. | STEP 6: Place the knife on the the lettuce on the back of the counter. | STEP 7: Turn around and walk forward to face the sliced potato on the counter. | STEP 8: Pick up a slice of potato on the counter. | STEP 9: Turn around and walk across the room to face the microwave. | STEP 10: Heat the potato slice in the microwave and remove it. | STEP 11: Step to the right to face the counter. | STEP 12: Place the potato slice on the back of the counter to the left of the lettuce. | END