Task: put a slice of a potato in a 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          0.900          -0.5           0              90             0
   1  Kettle          -2.477         0.953          0.435          0              90             0              85
   2  Kettle          0.021          0.107          0.320          0              0              0              62
   3  DishSponge      0.341          0.782          -1.648         0              270            0              75
   4  DishSponge      0.804          0.919          -1.649         0              270            0              50
   5  ButterKnife     1.658          0.912          -1.654         0              0              0              52
   6  ButterKnife     -2.203         0.952          0.524          0              90             0              85
   7  Pot             1.007          0.962          0.561          0              270            0              54
   8  Fork            1.903          0.912          -1.489         0              0              0              52
   9  Fork            -2.203         0.952          0.345          0              90             0              85
  10  Spoon           1.785          0.913          0.292          0              0              0              67
  11  Spatula         0.167          0.927          0.540          0              0              0              51
  12  Spatula         0.649          0.934          -1.582         0              270            0              50
  13  Egg             -2.31          1.086          -1.849         0              0              0              82
  14  Egg             -0.451         0.947          -1.820         0              0              0              52
  15  Knife           0.856          0.944          -1.649         0              90             0              50
  16  SoapBottle      0.432          0.910          0.292          0              0              0              51
  17  SoapBottle      1.781          0.910          -1.571         0              0              0              52
  18  Bowl            -2.222         1.492          -1.806         0              0              0              82
  19  Bowl            -1.959         1.492          -1.806         0              0              0              82
  20  SaltShaker      -0.096         0.908          0.209          0              0              0              51
  21  PepperShaker    -2.203         0.948          0.255          0              90             0              85
  22  Lettuce         -1.791         1.042          0.614          0              90             0              85
  23  Bread           -2.065         1.035          0.165          0              90             0              85
  24  Knife           -1.928         0.977          0.345          0              270            0              85
  25  Fork            -2.614         0.952          0.524          0              270            0              85
  26  Bowl            1.754          1.328          -1.772         0              180            0              68
  27  Kettle          -0.538         0.111          -1.508         0              0              0              66
  28  Cup             0.753          0.917          -1.782         0              270            0              50
  29  Tomato          -2.614         1.001          0.165          0              90             0              85
  30  SoapBottle      -0.394         0.068          0.612          0              90             0              81
  31  Plate           -0.147         0.111          -1.508         0              0              0              61
  32  Pot             1.361          0.962          0.561          0              270            0              57
  33  Spatula         -0.267         0.927          -1.571         0              90             0              52
  34  PaperTowelRoll  -2.065         1.056          0.704          0              90             0              85
  35  Egg             -1.872         1.086          -1.763         0              0              0              82
  36  Lettuce         1.846          1.002          0.458          0              0              0              67
  37  SaltShaker      1.907          0.908          0.623          0              0              0              67
  38  PepperShaker    1.167          0.908          -1.489         0              0              0              52
  39  Apple           -0.975         1.082          -1.704         0              0              0              74
  40  ButterKnife     0.167          0.912          0.540          0              90             0              51
  41  Potato          -0.544         0.942          -1.489         0              0              0              52
  42  Pan             1.022          0.959          0.288          0              219.190        0              64
  43  DishSponge      1.724          0.911          0.623          0              0              0              67
  44  Spoon           1.924          0.775          0.339          0              270            0              53
  45  Mug             0.618          0.945          0.469          0              180            0              76
  46  Cabinet         -0.193         1.688          -1.648         0              180            0
  47  StoveBurner     1.360          0.957          0.293          0              180            0
  48  Drawer          0.499          0.792          0.296          0              0              0
  49  Cabinet         0.095          0.400          -1.352         0              180            0
  50  Sink            0.711          0.817          -1.772         0              270            0
  51  CounterTop      0.280          0.947          0.458          0              0              0
  52  CounterTop      -0.680         0.947          -1.654         0              0              0
  53  Drawer          1.825          0.792          0.296          0              0              0
  54  StoveBurner     1.007          0.957          0.561          0              270            0
  55  Drawer          -0.150         0.792          -1.496         0              0              0
  56  Drawer          -0.586         0.792          -1.496         0              0              0
  57  StoveBurner     1.360          0.957          0.561          0              270            0
  58  Drawer          0.024          0.792          0.296          0              0              0
  59  Cabinet         1.079          0.400          -1.349         0              180            0
  60  Cabinet         1.669          0.402          0.151          0              0              0
  61  Cabinet         0.055          0.402          -1.351         0              0              0
  62  Cabinet         -0.180         0.402          0.151          0              0              0
  63  Cabinet         0.729          0.402          0.151          0              0              0
  64  StoveBurner     1.007          0.957          0.293          0              180            0
  65  Drawer          -1.100         0.792          -1.496         0              0              0
  66  Cabinet         -0.396         0.402          -1.351         0              0              0
  67  CounterTop      1.776          0.947          0.458          0              0              0
  68  Cabinet         1.974          1.688          -1.648         0              180            0
  69  Cabinet         -0.820         0.400          -1.349         0              180            0
  70  Toaster         0.305          0.900          0.552          0              180            0
  71  LightSwitch     -2.756         1.307          -0.987         0              90             0
  72  Window          0.582          1.613          -1.967         90             0              0
  73  Window          1.969          1.5            -0.615         90             270            0
  74  Microwave       -1.037         0.900          -1.723         0              0              0
  75  SinkBasin       0.377          0.765          -1.655         0              270            0
  76  CoffeeMachine   0.618          0.900          0.600          0              180            0
  77  StoveKnob       1.246          0.913          0.118          45             180            0
  78  StoveKnob       1.373          0.913          0.118          45             180            0
  79  StoveKnob       0.995          0.913          0.118          45             180            0
  80  StoveKnob       1.126          0.913          0.118          45             180            0
  81  GarbageCan      -0.368         -0.029         0.539          0              90             0
  82  Fridge          -2.134         0.0            -1.690         0              0              0
  83  Faucet          0.549          1.046          -1.833         0              232.527        0
  84  Stool           -1.475         0.000          0.414          1.233          280.375        0
  85  DiningTable     -2.255         -0.004         0.432          0              0              0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: turn to the left go right towards the table | STEP 2: pick up the knife from the table | STEP 3: turn to the left go forward go right towards the counter | STEP 4: slice a potato that is on top of the counter | STEP 5: turn around to the left open the bottom cabinet and put the knife inside of it  | STEP 6: turn to the right  | STEP 7: pick up a slice of the potato that is on the counter | STEP 8: turn to the right | STEP 9: turn to the left towards the refrigerator  | STEP 10: put the slice of potato inside of the refrigerator get it back out  | STEP 11: turn to the left go left go right towards the trash can | STEP 12: put the slice of potato inside the trash can | END