Task: Put two slices of potato into the 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           -2.5           0.900          -2.25          0              180            0
   1  Pan             -0.222         0.961          -2.243         0              0              0              62
   2  Potato          -2.962         0.926          -0.119         0              270            0              80
   3  ButterKnife     -3.612         0.760          -3.486         0              199.125        0              79
   4  ButterKnife     -2.359         0.894          -0.290         0              270            0              80
   5  Pot             -1.248         0.943          -3.517         0              0              0              43
   6  Spoon           -0.152         0.943          -2.927         0              45             0              43
   7  Spoon           -4.002         0.692          -0.126         0              0              0              78
   8  Spatula         -0.315         0.956          -1.494         0              0              0              61
   9  Egg             -0.334         1.327          -0.878         0              270            0              73
  10  Cup             -4.064         0.760          -3.466         0              244.125        0              79
  11  Cup             -0.397         1.489          -0.878         0              270            0              73
  12  Plate           -4.182         0.705          -0.308         0              0              0              78
  13  SoapBottle      -0.244         0.940          -2.729         0              270            0              43
  14  SoapBottle      -4.002         0.689          -0.369         0              180            0              78
  15  Tomato          -3.485         0.810          -3.599         0              334.125        0              79
  16  Tomato          -3.878         0.810          -2.931         0              334.125        0              79
  17  Bread           -3.364         0.976          -0.376         0              270            0              80
  18  Lettuce         -3.942         0.781          -0.248         0              0              0              78
  19  Mug             -2.359         0.889          -0.204         0              270            0              80
  20  Apple           -3.163         0.956          -0.633         0              270            0              80
  21  Apple           -0.397         1.550          -0.297         0              270            0              73
  22  SoapBottle      -0.503         0.080          -1.449         0              0              0              59
  23  Pot             -0.437         0.961          -1.845         0              180            0              44
  24  Fork            -3.364         0.895          -0.462         0              270            0              80
  25  Cup             -0.136         1.943          -0.553         0              0              0              50
  26  Tomato          -2.560         0.945          -0.290         0              270            0              80
  27  Pan             -0.217         0.958          -2.215         0              45             0              62
  28  Plate           -1.471         0.956          -3.829         0              0              0              43
  29  Bread           -3.288         0.841          -3.303         0              109.125        0              79
  30  Spatula         -3.586         0.775          -3.820         0              64.125         0              79
  31  Knife           -0.078         0.966          -1.494         0              90             0              61
  32  SaltShaker      -3.245         0.756          -3.649         0              109.125        0              79
  33  PepperShaker    -1.123         0.750          -3.447         0              0              0              49
  34  ButterKnife     -0.315         0.941          -1.450         0              90             0              61
  35  Apple           -4.018         0.821          -3.050         0              109.125        0              79
  36  DishSponge      -0.643         0.813          -3.570         0              315            0              72
  37  Potato          -0.157         0.973          -1.406         0              0              0              61
  38  Egg             -0.167         1.616          -2.043         0              270            0              75
  39  Spoon           -0.509         0.752          -2.846         0              90             0              48
  40  Lettuce         -0.397         1.033          -2.847         0              0              0              43
  41  Mug             -0.321         1.483          -0.413         0              270            0              73
  42  Bowl            -0.293         1.284          -0.529         0              270            0              73
  43  CounterTop      -1.937         0.977          -3.673         0              0              0
  44  StoveBurner     -0.437         0.924          -1.845         0              180            0
  45  StoveBurner     -0.222         0.924          -1.845         0              180            0
  46  StoveBurner     -0.437         0.924          -2.243         0              0              0
  47  Drawer          -0.500         0.779          -1.450         0              0              0
  48  Drawer          -0.481         0.777          -2.739         0              0              0
  49  Drawer          -1.154         0.782          -3.499         0              0              0
  50  Cabinet         -0.337         2.110          -0.390         0              0              0
  51  Cabinet         -0.337         2.110          -1.272         0              0              0
  52  Cabinet         -0.337         2.110          -1.631         0              0              0
  53  Cabinet         -0.337         2.110          -2.497         0              0              0
  54  Cabinet         -0.337         1.891          -1.286         0              0              0
  55  Cabinet         -0.346         1.891          -3.293         0              0              0
  56  Cabinet         -0.629         0.388          -2.513         0              0              0
  57  Cabinet         -0.633         0.388          -3.008         0              0              0
  58  Cabinet         -1.010         0.388          -3.368         0              0              0
  59  Cabinet         -0.629         0.388          -1.614         0              0              0
  60  Cabinet         -0.327         1.886          -2.513         0              0              0
  61  CounterTop      -0.326         0.976          -1.450         0              0              0
  62  StoveBurner     -0.222         0.924          -2.243         0              0              0
  63  Sink            -0.600         0.929          -3.388         0              0              0
  64  StoveKnob       -0.617         0.899          -1.833         315            90             180
  65  StoveKnob       -0.617         0.899          -2.129         315            90             180
  66  StoveKnob       -0.617         0.899          -2.289         315            90             180
  67  StoveKnob       -0.617         0.899          -1.975         315            90             180
  68  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  69  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  70  Window          -1.389         1.610          -4.113         90             0              0
  71  LightSwitch     -4.372         1.493          -1.031         0              90             0
  72  SinkBasin       -0.614         0.802          -3.384         0              315            0
  73  Fridge          -0.314         0.0            -0.646         0              0              0
  74  Toaster         -1.970         0.930          -3.763         0              0              0
  75  Microwave       -0.216         1.470          -2.054         0              270            0
  76  Blinds          -1.373         2.205          -3.961         0              0              0
  77  Faucet          -0.393         0.930          -3.614         270            225            0
  78  SideTable       -4.030         0.002          -0.301         0              185.034        0
  79  DiningTable     -3.586         0.000          -3.258         0              0              0
  80  DiningTable     -3.224         -0.003         -0.453         0              0              0
  81  Shelf           -4.030         0.259          -0.301         0              185.034        0
  82  Shelf           -4.030         0.489          -0.301         0              185.034        0
  83  EastWall
  84  EastWall
  85  SouthWall

Plan:
STEP 1: Turn around, go forward, hang a right, go to the counter between the fridge and stove. | STEP 2: Pick up the butter knife that is on the counter. | STEP 3: Cut the potato that is on the counter into slices. | STEP 4: Put the butter knife down on the counter. | STEP 5: Pick up a slice of potato from the counter.  | STEP 6: Turn around, go forward, then hang a left and go to the garbage can. | STEP 7: Put the potato slice in the garbage can. | STEP 8: Turn to the right, go to the round black dining table.  | STEP 9: Pick up the butter knife that is on the table. | STEP 10: Turn to the right, go across the room to the white table.  | STEP 11: Cut the potato that is on the table into slices.  | STEP 12: Turn around, go forward, turn around to the table. | STEP 13: Put the butter knife down on the table.  | STEP 14: Move forward to the table. | STEP 15: Pick up a slice of potato from the table. | STEP 16: Turn to the right, go forward, hang a right and go to the garbage can across the room. | STEP 17: Put the potato slice into the garbage can. | END