Task: throw a heated slice of potato 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           -1.5           0.900          1.75           0              270            0
   1  Pen             1.002          0.776          0.539          0              0              0              43
   2  Potato          1.388          1.762          1.650          0              270            0              85
   3  Potato          1.454          1.203          0.370          0              90             0              72
   4  Kettle          1.207          0.115          -0.699         0              0              0              50
   5  Fork            0.903          0.775          0.431          0              90             0              43
   6  Fork            -1.809         0.911          -1.879         0              0              0              64
   7  Spoon           0.970          0.772          -0.665         0              270            0              57
   8  Spatula         -1.886         0.925          -1.879         0              90             0              64
   9  Spatula         -1.712         0.925          0.549          0              0              0              68
  10  Pot             1.414          1.164          -1.345         0              0              0              72
  11  Egg             0.012          0.940          -1.409         0              0              0              66
  12  Cup             -2.041         0.112          -1.584         0              0              0              69
  13  Tomato          0.251          0.959          -1.708         0              270            0              45
  14  Bowl            1.325          1.368          2.351          0              270            0              85
  15  Bowl            0.200          1.656          -1.839         0              0              0              56
  16  Bread           -2.201         0.988          0.291          0              0              0              68
  17  Tomato          1.343          0.951          -0.990         0              0              0              66
  18  Glassbottle     -1.828         0.117          -1.489         0              0              0              73
  19  Knife           -0.627         0.941          -1.704         0              0              0              66
  20  Plate           1.260          0.911          0.372          0              0              0              66
  21  Fork            -0.477         0.911          -1.789         0              0              0              66
  22  Ladle           -2.116         0.954          -1.448         0              0              0              64
  23  Potato          -0.063         0.824          -1.707         0              270            0              87
  24  Lettuce         0.526          0.952          -1.566         9.019          143.625        0              66
  25  Kettle          0.770          0.9            -1.836         0              0              0              66
  26  Pen             1.015          0.775          -1.233         0              0              0              44
  27  SaltShaker      -0.751         0.106          -1.487         0              0              0              53
  28  Cup             1.356          1.720          1.775          0              270            0              85
  29  Egg             1.296          1.191          -1.002         0              0              0              72
  30  Spatula         -1.712         0.925          0.291          0              90             0              68
  31  Bowl            1.375          1.368          1.976          0              270            0              85
  32  SprayBottle     1.494          1.161          -1.002         0              0              0              72
  33  Pan             -1.431         0.949          -1.81          0              0              0              76
  34  SoapBottle      -2.323         0.910          0.118          0              180            0              68
  35  Pot             -1.081         0.949          -1.81          0              0              0              62
  36  ButterKnife     -1.886         0.910          -1.448         0              0              0              64
  37  PepperShaker    -1.353         1.853          -1.838         0              0              0              59
  38  DishSponge      0.217          0.919          -1.556         0              270            0              45
  39  Bread           1.414          1.240          -1.688         0              0              0              72
  40  Apple           1.341          0.249          1.051          0              0              0              83
  41  Spoon           1.047          0.774          -1.123         0              0              0              44
  42  Mug             1.070          0.957          -1.641         0              0              0              82
  43  Drawer          0.860          0.75           0.430          0              0              0
  44  Drawer          0.871          0.75           -1.134         0              0              0
  45  Sink            0.156          0.817          -1.801         0              270            0
  46  Cabinet         -0.868         2.005          -1.690         0              0              0
  47  Cabinet         -1.661         2.059          -1.684         0              90             0
  48  Cabinet         -0.817         2.059          -1.689         0              0              0
  49  Cabinet         0.860          0.402          0.665          0              0              0
  50  Cabinet         0.860          0.402          -0.552         0              0              0
  51  Cabinet         0.860          0.402          -1.365         0              0              0
  52  Cabinet         -0.244         0.402          -1.389         0              0              0
  53  Cabinet         -0.815         0.402          -1.389         0              0              0
  54  Cabinet         1.159          2.059          -0.334         0              0              0
  55  Cabinet         0.488          2.059          -1.689         0              0              0
  56  Cabinet         -0.193         2.059          -1.689         0              0              0
  57  Drawer          0.860          0.75           -0.699         0              0              0
  58  Cabinet         1.159          2.059          -1.019         0              0              0
  59  Cabinet         -1.611         2.005          -1.690         0              0              0
  60  Cabinet         0.832          0.401          -1.393         0              90             0
  61  Drawer          -2.105         0.75           -1.389         0              0              0
  62  StoveBurner     -1.081         0.941          -1.809         0              0              0
  63  Cabinet         -0.202         0.401          -1.391         0              90             0
  64  CounterTop      -1.973         0.945          -1.707         0              0              0
  65  Drawer          -0.375         0.75           -1.389         0              0              0
  66  CounterTop      1.164          0.946          -0.649         0              0              0
  67  StoveBurner     -1.081         0.941          -1.527         0              0              0
  68  CounterTop      -2.096         0.945          0.291          0              0              0
  69  Cabinet         -2.237         0.402          -1.389         0              0              0
  70  Drawer          0.584          0.75           -1.389         0              0              0
  71  Drawer          -1.795         0.75           -1.389         0              0              0
  72  CounterTop      1.5            1.197          -0.654         0              0              0
  73  Cabinet         -1.667         0.402          -1.389         0              0              0
  74  StoveBurner     -1.430         0.941          -1.525         0              0              0
  75  Drawer          -0.685         0.75           -1.389         0              0              0
  76  StoveBurner     -1.430         0.941          -1.809         0              0              0
  77  LightSwitch     -2.539         1.289          2.568          0              90             0
  78  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  79  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  80  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  81  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  82  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  83  GarbageCan      1.343          0.015          1.041          0              0              0
  84  HousePlant      1.440          1.153          0.593          0              0              0
  85  Fridge          1.417          0.0            2.101          0              0              0
  86  Window          -0.486         1.452          3.302          90             0              0
  87  SinkBasin       -0.063         0.765          -1.713         0              270            0
  88  Microwave       1.422          1.150          0.022          0              270            0
  89  Toaster         -2.066         0.900          -1.848         0              0              0
  90  Stool           -1.994         0.010          0.882          0              0              0
  91  Faucet          -0.096         1.041          -1.867         0              270            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: turn to the left go right towards the counter | STEP 2: pick the knife from the counter | STEP 3: turn to the left towards the sink | STEP 4: slice a potato that is inside the sink | STEP 5: turn around to the left go right towards the trash can  | STEP 6: put the knife inside the trash can | STEP 7: turn around to the right go forward towards the sink | STEP 8: pick a slice of the potato that is in the sink | STEP 9: turn around to the left go right towards the microwave  | STEP 10: put the slice of potato inside the microwave heat it up get it back out | STEP 11: turn around to the right go right towards the trash can | STEP 12: throw the slice of potato in the trash can | END