Task: Heat a potato in the microwave and place it in the trash

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          0.0            0              90             0
   1  Pan             -0.601         0.910          0.870          0              0              0              48
   2  Potato          -2.704         0.947          1.230          0              0              0              76
   3  Potato          -2.558         0.214          -0.459         0              180            0              80
   4  Potato          -2.558         0.214          -0.902         0              270            0              80
   5  Kettle          1.691          0.929          -0.335         0              0              0              56
   6  Fork            -2.372         0.911          0.631          0              0              0              76
   7  Fork            0.747          0.911          -1.599         0              45             0              58
   8  Spoon           -0.471         0.912          0.423          0              0              0              48
   9  Spoon           -0.341         0.912          1.540          0              0              0              48
  10  Spatula         -2.348         0.788          1.417          0              270            0              79
  11  Egg             -2.393         1.119          -0.696         0              90             0              80
  12  Egg             1.646          0.215          0.761          0              0              0              87
  13  Cup             -2.685         1.535          2.477          0              0              0              52
  14  Plate           -2.455         0.913          1.530          0              0              0              76
  15  Plate           0.373          1.666          -1.766         0              90             0              55
  16  Knife           -2.287         0.798          -0.073         0              90             0              66
  17  Tomato          -0.471         0.953          1.764          0              0              0              48
  18  PepperShaker    -2.645         1.532          2.840          0              0              0              52
  19  Bread           -0.081         0.996          1.540          0              0              0              48
  20  Bread           -2.206         0.996          0.631          0              0              0              76
  21  Mug             -2.513         0.589          -0.962         0              90             0              80
  22  Mug             -2.570         1.010          2.481          0              90             0              88
  23  Apple           -2.393         1.362          -0.696         0              90             0              80
  24  Apple           1.646          0.246          0.651          0              0              0              87
  25  Pan             0.0            0.9            0.948          0              29.999         0              48
  26  Knife           -2.257         0.798          1.417          0              270            0              79
  27  Apple           -2.372         0.972          1.230          0              0              0              76
  28  Bowl            -2.599         1.535          0.702          0              0              0              72
  29  Fork            1.769          0.911          0.435          0              0              0              57
  30  Bread           -0.211         0.996          0.423          0              0              0              48
  31  Plate           1.337          0.922          -1.115         0              225            0              62
  32  Egg             0.667          0.941          -1.473         0              45             0              58
  33  Kettle          1.411          0.929          0.064          0              0              0              77
  34  Potato          1.450          0.954          -1.282         0              225            0              62
  35  SaltShaker      1.341          0.906          0.346          0              0              0              57
  36  Lettuce         1.113          0.832          -1.433         0              320.816        37.303         86
  37  Cup             -2.609         1.931          -1.150         0              0              0              69
  38  SoapBottle      -2.448         1.585          -1.849         0              0              0              75
  39  Spatula         -2.206         0.925          1.530          0              0              0              79
  40  PaperTowelRoll  1.512          1.015          0.376          0              0              0              57
  41  ButterKnife     -2.289         0.910          1.830          0              0              0              76
  42  PepperShaker    1.568          0.905          -0.767         0              45             0              58
  43  DishSponge      -0.341         0.910          1.317          0              0              0              48
  44  Pot             -2.311         0.105          0.895          0              270            0              74
  45  Spoon           -2.289         0.912          0.031          0              0              0              76
  46  Tomato          0.195          0.953          -1.539         0              0              0              58
  47  Mug             0.464          0.955          -1.593         0              0              0              58
  48  CounterTop      -0.360         0.946          1.093          0              0              0
  49  StoveBurner     1.412          0.923          -0.335         0              0              0
  50  StoveKnob       1.878          1.093          0.018          287.989        90             0
  51  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  52  Cabinet         -2.446         1.948          2.924          0              0              0
  53  Drawer          -2.276         0.792          0.902          0              0              0
  54  Cabinet         -2.145         0.402          1.578          0              0              0
  55  Cabinet         0.149          2.008          -1.603         0              90             0
  56  StoveBurner     1.691          0.923          -0.335         0              0              0
  57  CounterTop      1.585          0.946          0.405          0              0              0
  58  CounterTop      0.474          0.946          -1.625         0              0              0
  59  StoveBurner     1.691          0.923          0.064          0              0              0
  60  Cabinet         -2.446         1.948          1.687          0              0              0
  61  Cabinet         -2.446         1.948          1.640          0              0              0
  62  Sink            1.381          0.810          -1.271         0              225            0
  63  StoveKnob       1.878          1.093          0.150          287.989        90             0
  64  Cabinet         -2.145         0.402          -0.236         0              0              0
  65  Drawer          -2.276         0.792          0.437          0              0              0
  66  Drawer          -2.276         0.792          -0.027         0              0              0
  67  Cabinet         1.572          2.008          0.474          0              0              0
  68  Cabinet         1.572          2.008          -0.775         0              0              0
  69  Cabinet         -2.445         2.148          -1.275         0              0              0
  70  Cabinet         -2.446         2.148          -0.284         0              0              0
  71  Cabinet         -2.446         1.948          0.355          0              0              0
  72  Cabinet         -2.446         1.948          0.405          0              0              0
  73  Cabinet         -2.145         0.402          0.644          0              0              0
  74  Cabinet         -2.145         0.402          0.695          0              0              0
  75  Cabinet         -2.285         1.968          -1.325         0              180            0
  76  CounterTop      -1.485         0.946          1.319          0              0              0
  77  StoveBurner     1.411          0.923          0.064          0              0              0
  78  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  79  Drawer          -2.276         0.792          1.368          0              0              0
  80  Fridge          -2.475         0.0            -0.782         0              90             0
  81  LightSwitch     -0.929         1.350          -1.950         0              0              0
  82  Toaster         -2.564         0.900          1.876          0              90             0
  83  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  84  Window          1.508          1.534          -1.496         90             135            0
  85  Window          1.973          1.521          1.121          90             90             0
  86  SinkBasin       1.149          0.753          -1.380         0              225            0
  87  GarbageCan      1.646          -0.000         0.679          0              0              0
  88  Microwave       -2.580         0.900          2.440          0              90             0
  89  Stool           0.439          0.010          0.747          0              0              0
  90  Stool           -2.303         0.010          1.839          0              0              0
  91  Faucet          1.235          1.138          -1.473         0              225            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn left and walk straight slightly then turn left and face to the counter | STEP 2: Pick up the potato from the counter | STEP 3: Turn around and move forward slightly then turn left and walk straight then turn left to face the microwave | STEP 4: Place the potato in the microwave, heat it and then remove it from the microwave | STEP 5: Turn around walk straight past the kitchen island then turn right and walk to the white trash bin on the left and face it | STEP 6: Place the potato in the trash bin | END