Task: place a cooled potato slice in the garbage bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.75           0.900          0.75           0              0              0
   1  DishSponge      -0.160         0.114          1.236          0              0              0              78
   2  DishSponge      -0.682         0.820          -1.110         0              0              0              109
   3  ButterKnife     0.123          0.765          -0.707         0              180            0              107
   4  ButterKnife     -0.103         0.911          1.129          0              270            0              61
   5  Spoon           -0.103         0.912          1.214          0              180            0              61
   6  Spoon           2.156          0.912          -0.769         0              0              0              50
   7  Spatula         1.688          0.926          1.214          0              0              0              85
   8  Spatula         0.053          0.780          -0.596         0              180            0              107
   9  Plate           0.178          1.658          -0.771         0              180            0              90
  10  Plate           2.221          0.914          1.129          0              0              0              85
  11  Cup             2.777          1.016          -0.512         0              0              0              105
  12  Cup             0.570          1.782          1.488          0              180            0              108
  13  Egg             -1.991         0.461          1.247          0              270            0              103
  14  Knife           -0.055         0.944          1.383          0              90             0              61
  15  SoapBottle      -0.734         0.826          -1.255         0              0              0              109
  16  Tomato          3.301          0.871          -0.514         0              0              0              105
  17  Bowl            2.900          0.723          -0.504         0              0              0              105
  18  Bowl            -0.983         0.818          -1.308         0              90             0              109
  19  SaltShaker      0.514          1.650          -0.849         0              180            0              89
  20  SaltShaker      -0.785         0.817          -1.400         0              0              0              109
  21  PepperShaker    1.947          0.110          -0.421         0              180            0              96
  22  Bread           -0.198         0.969          1.129          0              0              0              61
  23  Bread           2.754          0.969          1.129          0              0              0              85
  24  Lettuce         2.777          1.644          -0.644         0              0              0              105
  25  Lettuce         2.488          0.992          1.383          0              0              0              85
  26  Mug             2.838          1.014          -0.709         0              0              0              105
  27  SoapBottle      -1.991         0.429          1.375          0              270            0              103
  28  Plate           2.211          0.902          -0.462         0              0              0              50
  29  Fork            1.524          0.772          1.122          0              90             0              68
  30  Pot             0.297          0.960          1.346          0              0              0              65
  31  Bread           1.030          0.953          -0.519         0              0              0              50
  32  Egg             0.466          1.822          1.455          0              180            0              108
  33  Kettle          0.710          0.9            -0.772         0              0              0              50
  34  Tomato          2.777          1.320          -0.840         0              0              0              105
  35  Cup             2.562          1.653          1.507          0              0              0              75
  36  Spatula         1.902          0.926          -0.345         0              0              0              50
  37  Apple           2.653          1.357          -0.578         0              0              0              105
  38  Pan             0.678          0.964          1.082          0              0              0              53
  39  Lettuce         2.221          0.992          1.468          0              0              0              85
  40  SaltShaker      1.842          1.651          1.585          0              0              0              62
  41  Knife           1.688          0.944          1.383          0              0              0              85
  42  Potato          2.156          0.946          -0.684         0              0              0              50
  43  PepperShaker    2.837          0.110          1.119          0              0              0              82
  44  ButterKnife     0.888          0.901          -0.6           0              0              0              50
  45  Bowl            2.900          1.286          -0.709         0              0              0              105
  46  DishSponge      2.155          0.771          1.160          0              0              0              81
  47  Spoon           1.955          0.912          1.383          0              0              0              85
  48  Mug             2.222          1.649          1.432          0              0              0              51
  49  Sink            0.050          0.902          -0.648         0              0              0
  50  CounterTop      1.358          0.947          -0.600         0              0              0
  51  Cabinet         2.986          2.009          1.304          0              0              0
  52  Cabinet         1.022          2.009          -0.607         0              180            0
  53  StoveBurner     0.678          0.923          1.082          0              0              0
  54  Cabinet         2.371          0.402          0.995          0              0              0
  55  Drawer          -0.125         0.792          0.995          0              0              0
  56  StoveBurner     0.281          0.923          1.082          0              0              0
  57  Cabinet         1.025          0.402          0.995          0              0              0
  58  Cabinet         1.023          0.402          -0.296         0              180            0
  59  Cabinet         0.974          2.259          1.304          0              0              0
  60  Cabinet         0.979          2.009          -0.607         0              180            0
  61  CounterTop      -0.158         0.947          1.299          0              0              0
  62  Cabinet         1.725          2.009          1.304          0              0              0
  63  Drawer          2.205          0.792          -0.294         0              180            0
  64  Drawer          1.869          0.792          -0.294         0              180            0
  65  StoveBurner     0.281          0.923          1.347          0              0              0
  66  Drawer          2.512          0.792          0.995          0              0              0
  67  Cabinet         1.673          0.402          -0.296         0              180            0
  68  Drawer          1.524          0.792          0.995          0              0              0
  69  Drawer          1.174          0.792          -0.294         0              180            0
  70  Cabinet         1.720          0.402          0.995          0              0              0
  71  Cabinet         2.348          2.009          -0.607         0              180            0
  72  Cabinet         1.676          2.009          -0.607         0              180            0
  73  Cabinet         1.673          2.009          1.304          0              0              0
  74  Cabinet         2.326          2.009          1.304          0              0              0
  75  Cabinet         2.370          2.009          1.304          0              0              0
  76  Cabinet         0.021          2.009          1.304          0              0              0
  77  Cabinet         1.025          2.009          1.304          0              0              0
  78  Cabinet         -0.274         0.402          0.995          0              0              0
  79  Cabinet         1.675          0.402          0.995          0              0              0
  80  Drawer          1.524          0.792          -0.294         0              180            0
  81  Drawer          2.187          0.792          0.995          0              0              0
  82  Cabinet         2.977          0.402          0.995          0              0              0
  83  Drawer          1.862          0.792          0.995          0              0              0
  84  Cabinet         0.072          2.259          1.304          0              0              0
  85  CounterTop      1.917          0.947          1.299          0              0              0
  86  Cabinet         2.328          0.402          0.995          0              0              0
  87  Cabinet         1.723          2.009          -0.607         0              180            0
  88  StoveBurner     0.677          0.923          1.345          0              0              0
  89  Cabinet         0.355          2.009          -0.607         0              180            0
  90  Cabinet         0.332          2.009          -0.607         0              180            0
  91  Cabinet         2.349          0.402          -0.296         0              180            0
  92  Cabinet         -0.284         2.009          -0.607         0              180            0
  93  Faucet          0.061          0.906          -0.903         0              0              0
  94  Drawer          2.837          0.792          0.995          0              0              0
  95  Drawer          1.175          0.792          0.995          0              0              0
  96  Cabinet         1.723          0.402          -0.296         0              180            0
  97  StoveKnob       0.588          1.093          1.557          287.970        0              0
  98  StoveKnob       0.188          1.093          1.557          287.970        0              0
  99  StoveKnob       0.749          1.093          1.557          287.970        0              0
 100  StoveKnob       0.338          1.093          1.557          287.970        0              0
 101  Toaster         1.934          0.900          -0.717         0              0              0
 102  LightSwitch     -1.662         1.427          1.649          0              180            0
 103  GarbageCan      -1.965         -0.029         1.358          0              270            0
 104  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 105  Fridge          3.043          0.0            -0.709         0              0              0
 106  Window          -2.183         1.501          -0.014         90             270            0
 107  SinkBasin       0.043          0.755          -0.651         0              0              0
 108  Microwave       0.531          1.675          1.437          0              180            0
 109  DiningTable     -0.836         8.404          -1.258         0              0              0
 110  Chair           -1.611         0.002          -1.185         0              45             0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: turn left and walk to the end of the kitchen counter on the right | STEP 2: grab the butter knife off of the counter there | STEP 3: turn right and walk over to the kitchen counter to the right of the fridge | STEP 4: slice up the potato on the counter there | STEP 5: back a bit to face the kitchen cabinet below | STEP 6: place the knife in the kitchen cabinet below to the right | STEP 7: walk forwards a bit to the kitchen counter | STEP 8: grab a potato slice off of the kitchen counter | STEP 9: move to the left a bit to face the front of the fridge | STEP 10: place the potato slice in the fridge to cool, then take it back out | STEP 11: turn right and walk to the end of the room | STEP 12: place the potato slice in the recycling bin on the right | END