Task: Put a knife in the refrigerator and a cold potato slice in the garbage.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          -0.5           0              180            0
   1  DishSponge      -2.736         2.043          0.718          0              0              0              66
   2  DishSponge      -2.687         0.910          -0.147         0              0              0              68
   3  ButterKnife     0.920          0.911          -1.115         0              0              0              76
   4  ButterKnife     -0.086         1.111          1.891          0              315            0              69
   5  Spatula         -2.085         0.926          -1.282         0              0              0              76
   6  Spatula         -1.591         0.866          -1.305         0              90             0              86
   7  Cup             -2.490         1.661          -1.435         0              0              0              59
   8  Cup             -2.853         0.909          -0.147         0              0              0              68
   9  Plate           -2.811         2.045          0.576          0              0              0              66
  10  Egg             -1.418         0.884          -1.360         0              0              0              86
  11  Knife           0.144          1.134          1.422          0              315            0              69
  12  Tomato          -2.920         1.523          0.609          0              90             0              88
  13  Bowl            0.209          1.110          1.812          0              315            0              69
  14  Bowl            -2.800         1.472          1.013          0              90             0              88
  15  Lettuce         -2.860         1.752          0.690          0              90             0              88
  16  PepperShaker    -2.848         2.039          0.932          0              0              0              66
  17  PepperShaker    -2.106         1.658          -1.397         0              0              0              51
  18  SaltShaker      -0.998         0.113          -0.957         0              0              0              49
  19  SaltShaker      -2.772         1.661          0.300          0              0              0              62
  20  Bread           -2.800         0.874          0.690          0              90             0              88
  21  Mug             1.029          1.145          0.209          0              228.424        0              79
  22  Apple           -1.505         0.901          -1.084         0              0              0              86
  23  Apple           -2.438         0.963          -0.147         0              0              0              68
  24  Pan             0.759          1.110          0.652          0              315            0              69
  25  Apple           0.241          1.060          -1.381         0              0              0              89
  26  Fork            -1.332         0.852          -1.305         0              90             0              86
  27  Kettle          -2.620         0.922          -0.724         0              0              0              67
  28  CreditCard      0.765          0.908          -1.032         0              0              0              76
  29  Bread           -0.401         0.948          -1.291         0              0              0              76
  30  Plate           -0.941         1.664          -1.397         0              0              0              65
  31  SoapBottle      -0.210         1.663          -1.284         0              0              0              63
  32  Spatula         -2.628         0.761          0.226          0              270            0              74
  33  Lettuce         -2.660         0.874          0.983          31.046         0              0              88
  34  SaltShaker      0.912          1.658          -1.284         0              0              0              54
  35  Tomato          -2.728         0.087          1.466          0              0              0              87
  36  PepperShaker    -2.236         0.907          -1.199         0              0              0              76
  37  ButterKnife     -2.604         0.911          -0.062         0              0              0              68
  38  Pot             -2.823         0.928          -0.396         0              0              0              75
  39  Potato          -0.598         0.933          -1.119         0              47.530         0              76
  40  DishSponge      -1.987         0.746          -1.008         0              0              0              71
  41  Egg             -0.662         0.946          -1.282         0              0              0              76
  42  Spoon           -1.246         0.852          -1.139         0              0              0              86
  43  Knife           -2.671         0.769          0.226          0              270            0              74
  44  Cup             0.625          1.110          1.556          0              315            0              69
  45  Mug             -2.740         1.468          0.771          0              90             0              88
  46  Bowl            -2.800         0.377          0.690          0              90             0              88
  47  Cabinet         -2.647         2.075          -0.875         0              0              0
  48  Cabinet         -2.647         2.075          -0.234         0              0              0
  49  Cabinet         -0.824         0.469          -0.907         0              0              0
  50  Cabinet         -1.764         2.009          -1.197         0              0              0
  51  Cabinet         -1.834         2.009          -1.197         0              0              0
  52  Cabinet         -1.850         0.389          -0.897         0              0              0
  53  Cabinet         -1.801         0.469          -0.907         0              0              0
  54  Cabinet         1.115          2.009          -1.197         0              0              0
  55  Cabinet         0.235          2.009          -1.197         0              0              0
  56  Cabinet         1.125          0.470          -0.897         0              0              0
  57  Cabinet         -2.387         0.389          0.375          0              0              0
  58  Cabinet         0.484          0.389          -0.897         0              0              0
  59  Cabinet         -2.625         2.009          -1.197         0              0              0
  60  Cabinet         -2.647         2.009          -0.945         0              0              0
  61  Cabinet         -2.647         2.200          1.664          0              0              0
  62  Cabinet         -2.647         2.009          0.364          0              0              0
  63  Cabinet         0.164          2.009          -1.197         0              0              0
  64  Cabinet         -0.765         2.009          -1.197         0              0              0
  65  Cabinet         -0.834         2.009          -1.197         0              0              0
  66  Cabinet         -2.647         2.200          0.434          0              0              0
  67  StoveBurner     -2.622         0.886          -0.711         0              0              0
  68  CounterTop      -2.699         0.946          0.106          0              0              0
  69  CounterTop      0.908          1.147          0.788          0              315            0
  70  StoveBurner     -2.622         0.886          -0.396         0              0              0
  71  Drawer          -2.026         0.779          -1.082         0              0              0
  72  Sink            -1.328         0.916          -1.225         0              0              0
  73  StoveBurner     -2.822         0.886          -0.711         0              0              0
  74  Drawer          -2.572         0.779          0.099          0              0              0
  75  StoveBurner     -2.822         0.886          -0.396         0              0              0
  76  CounterTop      0.071          0.946          -1.199         0              0              0
  77  Drawer          0.254          0.779          -1.082         0              0              0
  78  LightSwitch     -1.167         1.307          3.0            0              180            0
  79  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  80  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  81  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  82  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  83  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  84  Window          0.321          1.449          3.088          90             0              0
  85  Toaster         -2.823         0.899          0.246          0              90             0
  86  SinkBasin       -1.344         0.838          -1.25          0              0              0
  87  GarbageCan      -2.757         1.886          1.466          0              0              0
  88  Fridge          -2.855         0.0            0.851          0              0              0
  89  Microwave       0.283          0.900          -1.331         0              0              0
  90  Stool           1.541          0.010          1.328          0              45             0
  91  Stool           0.983          0.010          1.793          0              47.459         0
  92  Faucet          -1.392         1.136          -1.399         0              270            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn to your right and go across the kitchen to the counter top between the stove and the refrigerator.  | STEP 2: Pick up the knife to the right of the apple on the counter top.  | STEP 3: Turn around and walk across the kitchen, then turn to the counter top on your right, just before the microwave.  | STEP 4: Cut the potato in front of the egg, on the counter, into slices.  | STEP 5: Turn around and go to the end of the counter, then turn to your left and go to the refrigerator.  | STEP 6: Place the knife on the top shelf of the refrigerator, in front of the loaf of bread.  | STEP 7: Turn around and go back to the end of the counter, turn right and go to the counter across from you where the potato  is.  | STEP 8: Pick up one of the potato slices.  | STEP 9: Turn around and go to the end of the counter, then turn to your left and go to the refrigerator.  | STEP 10: Place the tomato slice on the top shelf of the refrigerator, to the right of the head of lettuce, wait a moment for the potato slice to chill, then remove the potato slice from the refrigerator.  | STEP 11: Move over to your right, to the garbage bin on the floor to the right of the refrigerator.  | STEP 12: Put the potato slice in the garbage bin on the floor.  | END