Task: Heat up a sliced potato and place into 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           -0.75          0.914          1.0            0              0              0
   1  Kettle          -3.152         0.084          1.356          0              0              0              59
   2  Spatula         -2.302         0.930          3.890          0              0              0              40
   3  Spoon           -1.127         0.892          -0.053         0              0              0              76
   4  Spoon           -0.994         0.892          0.152          0              90             0              76
   5  Pot             -3.143         0.966          1.971          0              0              0              60
   6  Knife           -0.994         0.915          0.358          0              90             0              76
   7  Tomato          -0.790         1.054          3.863          0              180            0              66
   8  Tomato          -0.206         1.054          4.051          0              180            0              66
   9  SoapBottle      -1.259         0.891          0.358          0              90             0              76
  10  SoapBottle      -3.272         0.915          1.440          0              0              0              49
  11  Bowl            -0.323         1.272          4.062          0              180            0              66
  12  Bowl            -3.559         0.914          1.524          0              0              0              49
  13  Mug             -3.654         0.910          2.844          0              0              0              40
  14  Mug             -1.815         0.910          4.104          0              0              0              40
  15  Apple           -0.994         0.951          0.049          0              90             0              76
  16  Apple           -1.666         0.849          3.7            0              0              0              70
  17  Egg             -1.129         0.122          3.884          0              270            0              72
  18  Knife           -1.391         0.915          0.152          0              180            0              76
  19  Fork            -3.368         0.916          1.357          0              0              0              49
  20  Bread           -0.089         1.623          4.102          0              180            0              66
  21  Potato          -3.176         0.947          3.827          0              0              0              40
  22  Plate           -1.608         0.919          4.146          0              0              0              40
  23  Pot             -3.424         0.966          2.374          0              0              0              46
  24  Kettle          -3.176         0.916          1.273          0              180            0              49
  25  WineBottle      -3.654         0.916          1.273          0              0              0              49
  26  Bowl            -0.673         0.985          3.988          0              180            0              66
  27  Tomato          -1.127         0.960          0.255          0              90             0              76
  28  Cup             -2.759         0.080          3.663          0              0              0              52
  29  Spatula         -1.523         0.906          -0.053         0              90             0              76
  30  SoapBottle      -1.192         0.086          3.788          0              270            0              72
  31  Lettuce         -1.759         0.974          0.085          0              0              0              76
  32  Pan             -2.614         0.902          3.620          0              0              0              40
  33  Apple           -3.505         1.606          2.120          0              90             0              71
  34  SaltShaker      -2.126         0.911          4.146          0              0              0              40
  35  PepperShaker    -3.463         0.912          1.273          0              0              0              49
  36  ButterKnife     -1.523         0.891          -0.053         0              180            0              76
  37  DishSponge      -3.463         0.915          1.357          0              0              0              49
  38  Spoon           -1.921         0.790          3.7            0              0              0              70
  39  Mug             -3.424         0.945          3.275          0              90             0              40
  40  CounterTop      -3.381         0.950          3.335          0              0              0
  41  Drawer          -3.121         0.775          1.357          0              0              0
  42  Drawer          -3.121         0.777          2.916          0              0              0
  43  StoveBurner     -3.148         0.958          2.374          0              0              0
  44  Sink            -1.797         0.917          3.660          0              0              0
  45  Cabinet         -1.421         0.388          3.459          0              0              0
  46  StoveBurner     -3.424         0.958          2.374          0              0              0
  47  Cabinet         -3.365         1.931          2.676          0              0              0
  48  StoveBurner     -3.424         0.958          1.971          0              0              0
  49  CounterTop      -3.381         0.951          1.356          0              0              0
  50  Drawer          -3.121         0.781          3.295          0              0              0
  51  Cabinet         -2.205         0.388          3.459          0              0              0
  52  Cabinet         -2.963         0.388          3.459          0              0              0
  53  Cabinet         -2.992         0.388          2.683          0              0              0
  54  Cabinet         -3.352         2.205          1.715          0              0              0
  55  Cabinet         -3.352         2.205          2.653          0              0              0
  56  Cabinet         -2.189         0.388          3.466          0              0              0
  57  Cabinet         -3.365         1.931          3.963          0              0              0
  58  Cabinet         -3.365         1.931          1.056          0              0              0
  59  Cabinet         -2.992         0.388          1.037          0              0              0
  60  StoveBurner     -3.143         0.958          1.971          0              0              0
  61  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  62  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  63  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  64  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  65  Toaster         -2.654         0.902          4.064          0              180            0
  66  Fridge          -0.439         0.014          3.996          0              0              0
  67  LightSwitch     0.25           1.383          2.085          0              270            0
  68  Window          -1.430         1.338          -0.347         90             0              0
  69  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  70  SinkBasin       -1.802         0.778          3.700          0              0              0
  71  Microwave       -3.484         1.430          2.182          0              90             0
  72  GarbageCan      -1.184         -0.020         3.794          0              270            0
  73  Blinds          -1.404         2.092          -0.296         0              0              0
  74  Stool           -1.373         0.014          1.048          1.214          20.754         0
  75  Faucet          -1.788         0.903          3.931          270            90             0
  76  DiningTable     -1.399         0.010          0.238          0              0              0
  77  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Walk forward, turn left and walk to the counter, turn right. | STEP 2: Pick up potato on left side of counter. | STEP 3: Turn right, walk to the end, turn right and walk to the kitchen table. | STEP 4: Place potato on top of horizontal knife blade. | STEP 5: Pick up knife from underneath potato. | STEP 6: Cut the potato on the table into slices. | STEP 7: Place the knife on table to the right of the potato. | STEP 8: Take the first slice of potato closest to the table edge. | STEP 9: Turn right to walk out of the corner and head to the kitchen stove. | STEP 10: Open the microwave above the stove and place the potato slice inside. Close the door and heat up the potato, then remove the potato. | STEP 11: Turn around and head to the trash can between the fridge and counter. | STEP 12: Place the potato slice into the trash can. | END