Task: Put 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          2.5            0              270            0
   1  Pan             1.802          0.911          -1.610         0              180            0              74
   2  Ladle           -0.106         0.969          0.738          0              0              0              82
   3  Ladle           1.117          0.955          -1.415         0              0              0              74
   4  Kettle          1.341          1.680          -1.577         0              0              0              73
   5  DishSponge      1.612          0.224          1.219          0              0              0              83
   6  DishSponge      1.815          0.346          0.667          0              0              0              68
   7  ButterKnife     0.170          0.760          -1.435         0              0              0              98
   8  ButterKnife     0.214          0.925          -0.190         0              0              0              82
   9  Spoon           0.661          0.912          -1.610         0              0              0              74
  10  Pot             -1.050         0.915          -1.610         0              0              0              74
  11  Pot             1.975          0.938          0.384          0              180            0              60
  12  Egg             -1.789         1.086          0.013          0              90             0              97
  13  Egg             -1.814         0.968          -1.013         0              0              0              74
  14  Cup             0.256          0.758          -1.435         0              0              0              98
  15  Plate           0.107          0.924          0.738          0              0              0              82
  16  Plate           -1.841         1.660          -1.282         0              90             0              61
  17  Knife           0.107          0.947          0.041          0              0              0              82
  18  SoapBottle      -0.106         0.929          0.506          0              0              0              82
  19  SoapBottle      -1.114         1.683          -1.577         0              0              0              76
  20  Tomato          0.321          0.980          0.970          0              0              0              82
  21  Bowl            0.083          0.758          -1.435         0              0              0              98
  22  Bowl            1.234          0.107          -1.542         0              0              0              67
  23  SaltShaker      0.801          0.667          -1.270         0              0              0              55
  24  PepperShaker    -0.106         0.921          0.970          0              0              0              82
  25  Bread           -0.106         1.006          0.273          0              0              0              82
  26  Bread           -0.320         1.006          0.041          0              0              0              82
  27  Mug             -0.175         0.755          -1.546         0              0              0              98
  28  Mug             -1.645         1.464          -0.081         0              90             0              97
  29  SoapBottle      1.095          1.683          -1.652         0              0              0              73
  30  Cup             -1.692         0.561          0.013          0              90             0              97
  31  Pot             1.975          0.938          0.819          0              180            0              84
  32  Fork            1.746          0.912          0.025          0              0              0              74
  33  Ladle           1.712          0.589          1.219          0              0              0              72
  34  Kettle          -0.638         0.912          -1.610         0              0              0              74
  35  Egg             -1.773         0.098          1.33           0              270            0              88
  36  Plate           0.000          0.924          1.202          0              0              0              82
  37  Pan             -1.286         0.9            -1.348         0              79.769         0              74
  38  Lettuce         -1.697         1.753          0.201          0              90             0              97
  39  Spatula         0.107          0.940          0.506          0              270            0              82
  40  Apple           -1.749         0.892          -0.269         0              90             0              97
  41  Knife           1.986          0.933          1.107          0              0              0              74
  42  SaltShaker      0.082          0.109          -1.220         0              0              0              63
  43  PepperShaker    0.250          0.109          -1.345         0              0              0              63
  44  CellPhone       1.612          0.223          1.350          0              0              0              83
  45  ButterKnife     1.662          0.461          1.153          0              0              0              72
  46  Bread           -0.320         1.006          0.506          0              0              0              82
  47  Tomato          -1.663         0.618          -0.269         0              90             0              97
  48  Potato          -1.716         0.863          0.295          0              90             0              97
  49  DishSponge      -1.463         0.911          -0.864         0              0              0              74
  50  Spoon           2.119          0.912          0.025          0              0              0              74
  51  Mug             1.117          0.104          -1.289         0              0              0              63
  52  Bowl            -0.361         0.113          -1.472         0              0              0              53
  53  Cabinet         -0.495         0.474          -1.149         0              0              0
  54  Window          -0.010         1.582          -1.821         0              0              0
  55  Drawer          0.805          0.475          -1.159         0              0              0
  56  StoveBurner     1.764          0.902          0.601          0              270            0
  57  Drawer          1.5            0.196          -0.019         0              0              0
  58  Drawer          1.5            0.629          -0.018         0              0              0
  59  Drawer          1.5            0.602          -0.019         0              270            0
  60  StoveBurner     1.975          0.902          0.384          0              270            0
  61  Cabinet         -1.703         2.022          -1.453         0              90             0
  62  Cabinet         1.789          2.019          -0.819         0              270            0
  63  Cabinet         0.494          0.474          -1.149         0              0              0
  64  Cabinet         0.409          0.475          0.444          0              0              0
  65  Drawer          -0.696         0.475          -1.159         0              0              0
  66  Drawer          1.5            0.140          0.599          0              270            0
  67  Cabinet         1.389          0.474          -1.149         0              0              0
  68  Drawer          1.5            0.305          0.600          0              0              0
  69  StoveBurner     1.975          0.902          0.601          0              270            0
  70  Drawer          1.5            0.429          -0.019         0              0              0
  71  StoveBurner     1.764          0.902          0.819          0              270            0
  72  Drawer          1.5            0.519          1.220          0              0              0
  73  Cabinet         1.705          2.019          -1.449         0              0              0
  74  CounterTop      0.002          0.947          -1.513         0              0              0
  75  Drawer          1.5            0.629          0.605          0              0              0
  76  Cabinet         -0.627         2.019          -1.449         0              0              0
  77  StoveBurner     1.764          0.902          0.384          0              270            0
  78  Drawer          1.5            0.538          0.600          0              0              0
  79  Sink            0.0            0.893          -1.434         0              0              0
  80  Drawer          1.5            0.782          1.220          0              270            0
  81  Window          2.217          1.565          -0.384         0              0              0
  82  CounterTop      -0.014         0.961          0.505          0              0              0
  83  Drawer          1.5            0.200          1.220          0              0              0
  84  StoveBurner     1.975          0.902          0.819          0              270            0
  85  Window          -3.240         1.616          2.693          0              270            0
  86  Cabinet         -1.389         0.474          -1.149         0              0              0
  87  LightSwitch     -0.153         1.291          3.700          0              180            0
  88  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  89  StoveKnob       1.602          0.917          0.570          0              270            180
  90  StoveKnob       1.602          0.917          0.625          0              270            180
  91  StoveKnob       1.602          0.917          0.739          0              270            180
  92  StoveKnob       1.602          0.917          0.680          0              270            180
  93  StoveKnob       1.602          0.917          0.462          0              270            180
  94  StoveKnob       1.602          0.917          0.517          0              270            180
  95  Microwave       1.932          0.899          -0.766         0              270            0
  96  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  97  Fridge          -1.764         0.0            0.014          0              90             0
  98  SinkBasin       -0.014         0.736          -1.435         0              0              0
  99  Toaster         1.977          0.900          -0.336         0              270            0
 100  Faucet          -0.020         1.137          -1.605         0              270            0
 101  Chair           -9.354         0.000          1.242          0              180            0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn to the left, go to the counter and hang a left, go to the counter on the left that has the knives on it.  | STEP 2: Pick up the butter knife that is on the counter.  | STEP 3: Turn to the left, go to the counter, hang a right and go to the fridge that is on the left.  | STEP 4: Open the fridge, cut the potato that is in the fridge into slices, close the fridge.  | STEP 5: Turn to the left, go to the counter, hang a left, go forward to the microwave.  | STEP 6: Open the microwave, put the knife inside, close the microwave.  | STEP 7: Turn around, go to the counter and hang a right, go to the fridge that is on the left.  | STEP 8: Open the fridge, pick up a slice of the potato, close the fridge.  | STEP 9: Turn to the left, go to the counter and hang a left, go forward to the microwave. | STEP 10: Put the potato in the microwave and turn it on to cook, remove the potato when it is done cooking.  | STEP 11: Turn around, go to the counter and hang a right, go past the fridge to the garbage can that is on the left.  | STEP 12: Put the potato in the garbage can. | END