Task: throw a slice of potato into 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           -0.5           0.900          5.5            0              270            0
   1  Potato          1.387          0.925          2.034          0              90             0              85
   2  Potato          -0.138         0.794          6.282          0              225            0              98
   3  DishSponge      -0.224         0.759          6.633          0              135            0              98
   4  DishSponge      1.322          0.140          1.864          0              0              0              74
   5  ButterKnife     1.403          0.992          3.231          0              0              0              62
   6  ButterKnife     1.348          0.771          3.291          0              0              0              55
   7  Kettle          -0.465         0.761          6.349          0              225            0              98
   8  Kettle          1.317          0.988          4.294          0              0              0              57
   9  Fork            1.493          0.993          3.417          0              0              0              62
  10  Fork            0.125          0.760          6.851          0              225            0              98
  11  Cup             1.314          0.137          4.647          0              0              0              64
  12  Cup             1.497          0.886          2.188          0              90             0              85
  13  Plate           0.046          1.580          0.251          0              0              0              75
  14  Plate           1.500          1.578          1.349          0              0              0              72
  15  Knife           -0.459         1.022          0.303          0              0              0              62
  16  Tomato          2.094          1.565          5.501          0              270            0              84
  17  Tomato          1.135          1.042          4.624          0              0              0              63
  18  SoapBottle      -0.621         0.760          6.541          0              270            0              98
  19  SoapBottle      -0.575         0.760          6.719          0              135            0              98
  20  Bowl            0.014          0.759          6.217          0              135            0              98
  21  PepperShaker    -0.399         0.755          6.895          0              135            0              98
  22  PepperShaker    -0.344         0.139          0.277          0              0              0              70
  23  Bread           -0.384         1.062          0.486          0              0              0              62
  24  Lettuce         0.104          0.848          6.653          0              225            0              98
  25  Apple           0.273          1.171          0.213          0              0              0              78
  26  Apple           1.135          1.067          4.808          0              0              0              63
  27  Bowl            0.150          0.759          6.416          0              270            0              98
  28  Bread           1.099          1.048          0.434          0              0              0              62
  29  Egg             2.051          1.565          5.251          0              270            0              84
  30  Knife           0.015          0.789          6.742          0              225            0              98
  31  Fork            1.493          0.993          0.213          0              0              0              62
  32  Apple           -0.346         0.834          6.478          0              0              0              98
  33  Kettle          1.559          0.988          4.294          0              0              0              60
  34  Plate           1.238          0.141          2.572          0              0              0              74
  35  SaltShaker      0.256          0.755          6.240          0              135            0              98
  36  Lettuce         2.051          1.604          6.001          0              270            0              84
  37  SoapBottle      -0.289         0.760          6.786          0              135            0              98
  38  Spatula         1.497          0.906          2.474          0              0              0              85
  39  PaperTowelRoll  1.956          0.185          6.409          0              0              0              86
  40  Pot             1.32           0.988          3.848          0              0              0              61
  41  Potato          0.064          1.132          0.245          0              0              0              78
  42  ButterKnife     -0.549         0.772          0.507          0              0              0              58
  43  PepperShaker    1.573          0.135          2.720          0              0              0              74
  44  Pan             1.313          0.985          4.284          0              0              0              57
  45  Tomato          2.104          0.130          6.439          0              0              0              86
  46  DishSponge      -0.574         0.759          6.240          0              225            0              98
  47  Cup             -0.093         0.756          6.633          0              225            0              98
  48  Spoon           -0.159         0.761          6.787          0              0              0              98
  49  Mug             2.137          1.510          5.376          0              270            0              84
  50  Cabinet         1.307          2.455          4.360          0              0              0
  51  Cabinet         1.054          0.422          1.710          0              0              0
  52  Drawer          1.280          0.808          4.718          0              0              0
  53  Cabinet         1.307          2.455          3.607          0              0              0
  54  Drawer          0.736          0.802          0.521          0              0              0
  55  Drawer          1.276          0.802          3.291          0              0              0
  56  StoveBurner     1.562          0.982          3.848          0              0              0
  57  StoveBurner     1.317          0.982          4.294          0              0              0
  58  Drawer          -0.482         0.802          0.521          0              0              0
  59  Drawer          0.124          0.802          0.521          0              0              0
  60  StoveBurner     1.559          0.982          4.294          0              0              0
  61  StoveBurner     1.320          0.982          3.848          0              0              0
  62  CounterTop      1.391          1.028          0.897          0              0              0
  63  CounterTop      1.391          1.028          4.716          0              0              0
  64  Cabinet         1.054          0.422          4.548          0              0              0
  65  Cabinet         1.317          2.134          0.517          0              0              0
  66  Cabinet         1.317          2.134          4.889          0              0              0
  67  Cabinet         1.317          2.134          3.095          0              0              0
  68  Cabinet         0.443          0.422          0.743          0              0              0
  69  Cabinet         1.270          2.134          0.434          0              0              0
  70  Cabinet         -0.775         0.422          0.743          0              0              0
  71  Cabinet         -0.168         0.422          0.743          0              0              0
  72  Cabinet         1.317          2.134          1.534          0              0              0
  73  Cabinet         1.054          0.422          2.990          0              0              0
  74  Cabinet         1.054          0.422          2.944          0              0              0
  75  Cabinet         -0.263         2.134          0.434          0              0              0
  76  Cabinet         0.252          2.134          0.434          0              0              0
  77  Sink            1.391          1.006          2.326          0              0              0
  78  Microwave       0.108          0.981          0.262          0              0              0
  79  HousePlant      -0.165         0.826          6.444          0              0              0
  80  CoffeeMachine   1.551          0.982          0.953          0              270            0
  81  Toaster         1.473          0.981          4.715          0              270            0
  82  Window          -2.065         1.916          3.626          90             90             0
  83  Window          1.763          2.007          2.299          90             270            0
  84  Fridge          2.035          0.0            5.625          0              0              0
  85  SinkBasin       1.387          0.880          2.338          0              90             0
  86  GarbageCan      2.001          -0.044         6.503          0              0              0
  87  StoveKnob       1.140          0.934          3.987          45             270            0
  88  StoveKnob       1.140          0.934          4.309          45             270            0
  89  StoveKnob       1.140          0.934          4.140          45             270            0
  90  StoveKnob       1.140          0.934          3.824          45             270            0
  91  Vase            -0.226         0.834          6.993          0              0              0
  92  Vase            2.098          0.043          7.070          0              257.232        0
  93  Vase            -0.594         0.835          6.130          0              225            0
  94  LightSwitch     -2.0           1.549          6.045          0              90             0
  95  Safe            2.046          1.072          7.054          0              257.232        0
  96  Faucet          1.534          1.025          2.371          0              294.391        0
  97  Blinds          1.738          2.563          2.312          0              90             0
  98  DiningTable     -0.156         0.000          6.474          0              0              0
  99  Chair           0.291          0.002          6.142          0              310.162        0
 100  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: turn and walk to the table  | STEP 2:  pick up the knife that is on the table  | STEP 3:  walk to the other side of the table | STEP 4: use the knife to slice a potato | STEP 5:   turn and  walk to the refrigerator | STEP 6:  put the knife in the refrigerator | STEP 7: walk back to the table | STEP 8: pick up the  slice of potato | STEP 9:  turn and walk back to the refrigerator | STEP 10: put the slice of potato into the refrigerator  wait 3 seconds take the potato   out of the refrigerator | STEP 11: walk to the center of the room | STEP 12:  throw the  slice of potato into the trash | END