Task: Put a cold potato slice in 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           -0.25          0.900          3.75           0              0              0
   1  DishSponge      1.314          0.992          1.350          0              0              0              59
   2  DishSponge      1.657          0.141          4.686          0              0              0              61
   3  ButterKnife     -0.093         0.760          6.633          0              315            0              95
   4  Kettle          1.317          0.988          4.294          0              0              0              54
   5  Pot             1.32           0.988          3.848          0              0              0              58
   6  Spoon           -0.011         0.773          0.563          0              0              0              56
   7  Fork            -0.467         0.760          6.541          0              0              0              95
   8  Egg             2.137          1.565          5.251          0              270            0              81
   9  Cup             1.450          2.203          4.131          0              0              0              47
  10  Plate           1.573          0.141          3.291          0              0              0              70
  11  Plate           1.573          0.141          1.864          0              0              0              48
  12  Knife           0.803          0.802          0.451          0              90             0              51
  13  Knife           0.847          1.022          0.395          0              180            0              59
  14  Tomato          0.167          0.809          6.151          0              135            0              95
  15  SoapBottle      1.238          0.140          2.720          0              0              0              71
  16  Bowl            1.400          0.140          4.724          0              0              0              61
  17  PepperShaker    1.490          0.135          2.794          0              0              0              71
  18  PepperShaker    -0.535         0.987          0.670          0              0              0              59
  19  SaltShaker      0.837          1.574          0.207          0              0              0              73
  20  SaltShaker      1.135          0.987          4.716          0              0              0              60
  21  Lettuce         2.051          1.604          6.001          0              270            0              81
  22  Mug             0.150          0.755          6.604          0              270            0              95
  23  Apple           -0.138         0.834          6.282          0              135            0              95
  24  Bowl            1.573          0.139          2.498          0              0              0              71
  25  Bread           1.403          1.062          0.213          0              0              0              59
  26  Egg             0.037          0.810          6.458          0              135            0              95
  27  Knife           0.696          1.022          0.670          0              0              0              59
  28  Fork            0.260          0.772          0.563          0              0              0              56
  29  Apple           -0.312         0.834          6.541          0              270            0              95
  30  Kettle          1.593          0.981          3.25           0              255.000        0              59
  31  Plate           1.489          2.207          3.794          0              0              0              50
  32  SaltShaker      0.079          0.755          6.063          0              135            0              95
  33  Lettuce         -0.334         0.848          6.742          0              135            0              95
  34  SoapBottle      1.406          0.140          3.513          0              90             0              70
  35  Spatula         1.497          0.906          2.525          0              0              0              82
  36  PaperTowelRoll  1.493          1.096          3.417          0              0              0              59
  37  Pot             1.559          0.988          4.294          0              0              0              57
  38  Potato          0.305          0.794          6.666          0              270            0              95
  39  ButterKnife     1.403          0.992          1.577          0              0              0              59
  40  PepperShaker    -0.442         0.755          6.107          0              225            0              95
  41  Pan             1.313          0.985          4.284          0              0              0              54
  42  Tomato          -0.465         0.809          6.349          0              225            0              95
  43  DishSponge      1.143          0.141          4.724          0              0              0              61
  44  Cup             -0.137         0.756          6.677          0              225            0              95
  45  Spoon           -0.034         0.761          6.169          0              0              0              95
  46  Mug             1.384          1.043          0.847          0              270            0              59
  47  Cabinet         1.307          2.455          4.360          0              0              0
  48  Cabinet         1.054          0.422          1.710          0              0              0
  49  Drawer          1.280          0.808          4.718          0              0              0
  50  Cabinet         1.307          2.455          3.607          0              0              0
  51  Drawer          0.736          0.802          0.521          0              0              0
  52  Drawer          1.276          0.802          3.291          0              0              0
  53  StoveBurner     1.562          0.982          3.848          0              0              0
  54  StoveBurner     1.317          0.982          4.294          0              0              0
  55  Drawer          -0.482         0.802          0.521          0              0              0
  56  Drawer          0.124          0.802          0.521          0              0              0
  57  StoveBurner     1.559          0.982          4.294          0              0              0
  58  StoveBurner     1.320          0.982          3.848          0              0              0
  59  CounterTop      1.391          1.028          0.897          0              0              0
  60  CounterTop      1.391          1.028          4.716          0              0              0
  61  Cabinet         1.054          0.422          4.548          0              0              0
  62  Cabinet         1.317          2.134          0.517          0              0              0
  63  Cabinet         1.317          2.134          4.889          0              0              0
  64  Cabinet         1.317          2.134          3.095          0              0              0
  65  Cabinet         0.443          0.422          0.743          0              0              0
  66  Cabinet         1.270          2.134          0.434          0              0              0
  67  Cabinet         -0.775         0.422          0.743          0              0              0
  68  Cabinet         -0.168         0.422          0.743          0              0              0
  69  Cabinet         1.317          2.134          1.534          0              0              0
  70  Cabinet         1.054          0.422          2.990          0              0              0
  71  Cabinet         1.054          0.422          2.944          0              0              0
  72  Cabinet         -0.263         2.134          0.434          0              0              0
  73  Cabinet         0.252          2.134          0.434          0              0              0
  74  Sink            1.391          1.006          2.326          0              0              0
  75  Microwave       0.108          0.981          0.262          0              0              0
  76  HousePlant      -0.165         0.826          6.444          0              0              0
  77  CoffeeMachine   1.551          0.982          0.953          0              270            0
  78  Toaster         1.473          0.981          4.715          0              270            0
  79  Window          -2.065         1.916          3.626          90             90             0
  80  Window          1.763          2.007          2.299          90             270            0
  81  Fridge          2.035          0.0            5.625          0              0              0
  82  SinkBasin       1.387          0.880          2.338          0              90             0
  83  GarbageCan      2.001          -0.044         6.503          0              0              0
  84  StoveKnob       1.140          0.934          3.987          45             270            0
  85  StoveKnob       1.140          0.934          4.309          45             270            0
  86  StoveKnob       1.140          0.934          4.140          45             270            0
  87  StoveKnob       1.140          0.934          3.824          45             270            0
  88  Vase            -0.226         0.834          6.993          0              0              0
  89  Vase            2.098          0.043          7.070          0              257.232        0
  90  Vase            -0.594         0.835          6.130          0              225            0
  91  LightSwitch     -2.0           1.549          6.045          0              90             0
  92  Safe            2.046          1.072          7.054          0              257.232        0
  93  Faucet          1.534          1.025          2.371          0              294.391        0
  94  Blinds          1.738          2.563          2.312          0              90             0
  95  DiningTable     -0.156         0.000          6.474          0              0              0
  96  Chair           0.291          0.002          6.142          0              310.162        0
  97  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Go across the kitchen to the table, and turn right to go to the right side of the table. | STEP 2: Pick up the knife on the back of the table, between the two cups.  | STEP 3: Step back from the table. | STEP 4:  Cut the potato in front of the coffee cup, on the table, into slices. | STEP 5: Step to the left of the table. | STEP 6: Place the knife on the table to the left of the sliced potato.  | STEP 7: Move back over to the right of the table, in front of the potato.  | STEP 8: Pick up one of the potato slices on the table.  | STEP 9: Turn around towards the refrigerator.  | STEP 10:  Place the potato slice in the refrigerator, on the top shelf, to the left of the egg, wait a moment for the potato slice to chill, then remove the tomato slice from the refrigerator.  | STEP 11: Step back from the refrigerator, and to the left so that you are in front of the garbage bin on the floor, to the left of the refrigerator. | STEP 12: Place the potato slice in the garbage bin, on the floor, to the left of the refrigerator.  | END