Task: Put a knife and cooked potato in a garbage can.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          2.25           0              90             0
   1  CellPhone       -1.463         0.909          -0.914         0              0              0              65
   2  Kettle          1.765          0.938          0.601          0              180            0              47
   3  Kettle          -0.844         0.912          -1.610         0              0              0              65
   4  DishSponge      1.839          0.911          -0.053         0              0              0              65
   5  ButterKnife     -1.551         0.911          -1.013         0              0              0              65
   6  ButterKnife     1.714          0.583          -0.092         0              270            0              50
   7  Fork            0.214          0.926          0.273          0              0              0              73
   8  Spoon           2.119          0.912          -0.053         0              0              0              65
   9  Spatula         -1.990         0.926          -0.914         0              180            0              65
  10  Spatula         0.107          0.940          0.273          0              90             0              73
  11  Egg             0.000          0.982          0.273          0              0              0              73
  12  Plate           -1.841         1.660          -1.207         0              90             0              52
  13  SoapBottle      -0.361         0.118          -1.347         0              0              0              44
  14  Tomato          -1.721         0.618          -0.269         0              90             0              88
  15  Tomato          -1.645         1.524          0.201          0              90             0              88
  16  Bowl            0.214          0.924          0.041          0              0              0              73
  17  Bowl            -1.244         0.111          -1.487         0              0              0              77
  18  Bread           0.000          1.006          0.506          0              0              0              73
  19  Bread           0.889          0.992          -1.707         0              0              0              65
  20  SoapBottle      -0.106         0.929          0.970          0              0              0              73
  21  Cup             1.464          1.677          -1.614         0              0              0              64
  22  Pot             0.889          0.9            -1.412         0              0              0              65
  23  Fork            0.321          0.926          -0.190         0              0              0              73
  24  Ladle           1.195          0.153          -1.479         0              0              0              58
  25  Kettle          1.765          0.938          0.819          0              180            0              62
  26  Egg             0.214          0.982          1.202          0              0              0              73
  27  Plate           0.107          0.924          0.970          0              0              0              73
  28  Pan             -1.286         0.9            -1.348         0              79.769         0              65
  29  Lettuce         0.107          1.002          0.738          0              0              0              73
  30  Spatula         -0.261         0.775          -1.490         0              90             0              89
  31  Apple           -1.855         1.522          0.013          0              90             0              88
  32  Knife           1.900          0.933          1.107          0              180            0              65
  33  SaltShaker      1.924          1.655          -1.053         0              270            0              53
  34  PepperShaker    1.117          0.105          -1.289         0              0              0              58
  35  CellPhone       -0.638         0.909          -1.513         0              0              0              65
  36  ButterKnife     1.661          0.349          -0.088         0              0              0              48
  37  Bread           -0.213         1.006          0.738          0              0              0              73
  38  Tomato          -1.796         0.097          1.329          0              270            0              79
  39  Potato          0.327          0.944          1.311          0              345.000        0              73
  40  DishSponge      -0.088         0.760          -1.324         0              0              0              89
  41  Spoon           0.000          0.926          -0.190         0              0              0              73
  42  Mug             -1.750         0.558          -0.081         0              90             0              88
  43  Bowl            -0.088         0.758          -1.490         0              0              0              89
  44  Cabinet         -0.495         0.474          -1.149         0              0              0
  45  Window          -0.010         1.582          -1.821         0              0              0
  46  Drawer          0.805          0.475          -1.159         0              0              0
  47  StoveBurner     1.764          0.902          0.601          0              270            0
  48  Drawer          1.5            0.196          -0.019         0              0              0
  49  Drawer          1.5            0.629          -0.018         0              0              0
  50  Drawer          1.5            0.602          -0.019         0              270            0
  51  StoveBurner     1.975          0.902          0.384          0              270            0
  52  Cabinet         -1.703         2.022          -1.453         0              90             0
  53  Cabinet         1.789          2.019          -0.819         0              270            0
  54  Cabinet         0.494          0.474          -1.149         0              0              0
  55  Cabinet         0.409          0.475          0.444          0              0              0
  56  Drawer          -0.696         0.475          -1.159         0              0              0
  57  Drawer          1.5            0.140          0.599          0              270            0
  58  Cabinet         1.389          0.474          -1.149         0              0              0
  59  Drawer          1.5            0.305          0.600          0              0              0
  60  StoveBurner     1.975          0.902          0.601          0              270            0
  61  Drawer          1.5            0.429          -0.019         0              0              0
  62  StoveBurner     1.764          0.902          0.819          0              270            0
  63  Drawer          1.5            0.519          1.220          0              0              0
  64  Cabinet         1.705          2.019          -1.449         0              0              0
  65  CounterTop      0.002          0.947          -1.513         0              0              0
  66  Drawer          1.5            0.629          0.605          0              0              0
  67  Cabinet         -0.627         2.019          -1.449         0              0              0
  68  StoveBurner     1.764          0.902          0.384          0              270            0
  69  Drawer          1.5            0.538          0.600          0              0              0
  70  Sink            0.0            0.893          -1.434         0              0              0
  71  Drawer          1.5            0.782          1.220          0              270            0
  72  Window          2.217          1.565          -0.384         0              0              0
  73  CounterTop      -0.014         0.961          0.505          0              0              0
  74  Drawer          1.5            0.200          1.220          0              0              0
  75  StoveBurner     1.975          0.902          0.819          0              270            0
  76  Window          -3.240         1.616          2.693          0              270            0
  77  Cabinet         -1.389         0.474          -1.149         0              0              0
  78  LightSwitch     -0.153         1.291          3.700          0              180            0
  79  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  80  StoveKnob       1.602          0.917          0.570          0              270            180
  81  StoveKnob       1.602          0.917          0.625          0              270            180
  82  StoveKnob       1.602          0.917          0.739          0              270            180
  83  StoveKnob       1.602          0.917          0.680          0              270            180
  84  StoveKnob       1.602          0.917          0.462          0              270            180
  85  StoveKnob       1.602          0.917          0.517          0              270            180
  86  Microwave       1.932          0.899          -0.766         0              270            0
  87  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  88  Fridge          -1.764         0.0            0.014          0              90             0
  89  SinkBasin       -0.014         0.736          -1.435         0              0              0
  90  Toaster         1.977          0.900          -0.336         0              270            0
  91  Faucet          -0.020         1.137          -1.605         0              270            0
  92  Chair           -9.354         0.000          1.242          0              180            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn around and go to the garbage can, hang a left and go to the counter, turn to the right where the phone is.  | STEP 2: Pick up the butter knife that is on the counter.  | STEP 3: Turn around and go to the dishwasher, hang a left and go to the end of the counter where the potato is.  | STEP 4: Use the knife to cut the potato into slices.  | STEP 5: Turn to the left, go towards the wall, hang a left, go past the counter, hang a left and turn to the garbage can on the right.  | STEP 6: Put the knife in the garbage can. | STEP 7: Turn to the right, go past the counter, turn to the right, go to the wall, turn to the right, go to the counter on the right where the potato is.  | STEP 8: Pick up a slice of potato. | STEP 9: Turn to the left and go to the counter, turn to the left and go to the microwave.  | STEP 10: Put the potato in the microwave, turn it on to cook, remove the cooked potato from the microwave and close the door.  | STEP 11: Turn around and go to the counter, hang a right and go to the garbage can that is on the left past the fridge.  | STEP 12: Put the cooked potato in the garbage can. | END