Task: Place a cold potato slice in a waste basket

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          5.75           0              90             0
   1  ButterKnife     0.056          0.771          0.507          0              0              0              47
   2  ButterKnife     -0.312         0.760          6.354          0              0              0              86
   3  Kettle          0.305          0.761          6.354          0              270            0              86
   4  Pot             1.32           0.988          3.848          0              0              0              49
   5  Pot             0.124          0.145          0.353          0              0              0              59
   6  Spoon           0.123          0.761          6.107          0              135            0              86
   7  Spoon           0.257          0.761          6.719          0              225            0              86
   8  Fork            -0.159         0.760          6.169          0              0              0              86
   9  Cup             -0.467         0.756          6.604          0              270            0              86
  10  Plate           1.406          0.141          2.572          0              0              0              62
  11  Plate           0.815          0.144          0.339          0              0              0              56
  12  Knife           1.493          1.022          3.511          0              0              0              50
  13  Tomato          0.028          0.809          6.787          0              0              0              86
  14  PepperShaker    1.585          2.202          4.087          0              0              0              54
  15  Bowl            -0.621         0.143          0.277          0              0              0              58
  16  Bread           1.099          1.048          0.434          0              0              0              50
  17  Egg             0.028          0.810          6.169          0              0              0              86
  18  Knife           0.735          0.802          0.451          0              90             0              42
  19  Fork            1.348          0.772          3.223          0              0              0              43
  20  Apple           1.314          1.067          0.213          0              0              0              50
  21  Kettle          1.593          0.981          3.25           0              255.000        0              50
  22  Plate           1.314          0.993          0.440          0              0              0              50
  23  SaltShaker      1.412          1.572          1.288          0              0              0              60
  24  Lettuce         1.449          0.932          2.050          0              0              0              73
  25  SoapBottle      1.631          1.577          1.227          0              270            0              60
  26  Spatula         -0.278         0.786          0.620          0              270            0              46
  27  PaperTowelRoll  -0.221         0.864          6.787          0              0              0              86
  28  Pot             1.562          0.988          3.848          0              0              0              44
  29  Potato          1.225          1.027          3.137          0              0              0              50
  30  ButterKnife     0.847          0.992          0.578          0              0              0              50
  31  PepperShaker    0.150          0.755          6.479          0              270            0              86
  32  Pan             1.313          0.985          4.284          0              0              0              45
  33  Tomato          2.051          1.565          5.626          0              270            0              72
  34  DishSponge      -0.481         0.771          0.563          0              0              0              46
  35  Cup             1.400          0.137          4.724          0              0              0              52
  36  Spoon           -0.284         0.761          6.478          0              0              0              86
  37  Mug             1.384          1.043          0.847          0              270            0              50
  38  Cabinet         1.307          2.455          4.360          0              0              0
  39  Cabinet         1.054          0.422          1.710          0              0              0
  40  Drawer          1.280          0.808          4.718          0              0              0
  41  Cabinet         1.307          2.455          3.607          0              0              0
  42  Drawer          0.736          0.802          0.521          0              0              0
  43  Drawer          1.276          0.802          3.291          0              0              0
  44  StoveBurner     1.562          0.982          3.848          0              0              0
  45  StoveBurner     1.317          0.982          4.294          0              0              0
  46  Drawer          -0.482         0.802          0.521          0              0              0
  47  Drawer          0.124          0.802          0.521          0              0              0
  48  StoveBurner     1.559          0.982          4.294          0              0              0
  49  StoveBurner     1.320          0.982          3.848          0              0              0
  50  CounterTop      1.391          1.028          0.897          0              0              0
  51  CounterTop      1.391          1.028          4.716          0              0              0
  52  Cabinet         1.054          0.422          4.548          0              0              0
  53  Cabinet         1.317          2.134          0.517          0              0              0
  54  Cabinet         1.317          2.134          4.889          0              0              0
  55  Cabinet         1.317          2.134          3.095          0              0              0
  56  Cabinet         0.443          0.422          0.743          0              0              0
  57  Cabinet         1.270          2.134          0.434          0              0              0
  58  Cabinet         -0.775         0.422          0.743          0              0              0
  59  Cabinet         -0.168         0.422          0.743          0              0              0
  60  Cabinet         1.317          2.134          1.534          0              0              0
  61  Cabinet         1.054          0.422          2.990          0              0              0
  62  Cabinet         1.054          0.422          2.944          0              0              0
  63  Cabinet         -0.263         2.134          0.434          0              0              0
  64  Cabinet         0.252          2.134          0.434          0              0              0
  65  Sink            1.391          1.006          2.326          0              0              0
  66  Microwave       0.108          0.981          0.262          0              0              0
  67  HousePlant      -0.165         0.826          6.444          0              0              0
  68  CoffeeMachine   1.551          0.982          0.953          0              270            0
  69  Toaster         1.473          0.981          4.715          0              270            0
  70  Window          -2.065         1.916          3.626          90             90             0
  71  Window          1.763          2.007          2.299          90             270            0
  72  Fridge          2.035          0.0            5.625          0              0              0
  73  SinkBasin       1.387          0.880          2.338          0              90             0
  74  GarbageCan      2.001          -0.044         6.503          0              0              0
  75  StoveKnob       1.140          0.934          3.987          45             270            0
  76  StoveKnob       1.140          0.934          4.309          45             270            0
  77  StoveKnob       1.140          0.934          4.140          45             270            0
  78  StoveKnob       1.140          0.934          3.824          45             270            0
  79  Vase            -0.226         0.834          6.993          0              0              0
  80  Vase            2.098          0.043          7.070          0              257.232        0
  81  Vase            -0.594         0.835          6.130          0              225            0
  82  LightSwitch     -2.0           1.549          6.045          0              90             0
  83  Safe            2.046          1.072          7.054          0              257.232        0
  84  Faucet          1.534          1.025          2.371          0              294.391        0
  85  Blinds          1.738          2.563          2.312          0              90             0
  86  DiningTable     -0.156         0.000          6.474          0              0              0
  87  Chair           0.291          0.002          6.142          0              310.162        0
  88  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: turn to the right and go to the start of the rug on the floor and turn to the left and go to the counter | STEP 2: pick up the yellow handle knife from the counter top | STEP 3: turn to the right and take a step and turn to the left facing the counter top | STEP 4: with the knife slice up the potato on the counter | STEP 5: turn to the left and go to the front of the refrigerator and turn to the right and go to the refrigerator | STEP 6: open the refrigerator door and put the knife on the top right shelf and close the door  | STEP 7: turn to the left twice and take a step and turn to the left and go the the counter with the potato and turn to the left facing the counter | STEP 8: take a potato slice from the counter top | STEP 9: turn to the left and go to the front of the refrigerator and turn to the right and go to the refrigerator | STEP 10: open the refrigerator door and put the potato slice on the top right shelf and close the door and wait  and open the door and take out potato slice and close the refrigerator door. | STEP 11: turn to the left and take a few steps and turn to the right facing the waste basket | STEP 12: put the potato slice in the waste basket | END