Task: Place a heated slice of potato into a trash 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          2.25           0              90             0
   1  CellPhone       -1.463         0.909          -0.914         0              0              0              65
   2  Kettle          1.765          0.938          0.601          0              180            0              47
   3  Kettle          -0.844         0.912          -1.610         0              0              0              65
   4  DishSponge      1.839          0.911          -0.053         0              0              0              65
   5  ButterKnife     -1.551         0.911          -1.013         0              0              0              65
   6  ButterKnife     1.714          0.583          -0.092         0              270            0              50
   7  Fork            0.214          0.926          0.273          0              0              0              73
   8  Spoon           2.119          0.912          -0.053         0              0              0              65
   9  Spatula         -1.990         0.926          -0.914         0              180            0              65
  10  Spatula         0.107          0.940          0.273          0              90             0              73
  11  Egg             0.000          0.982          0.273          0              0              0              73
  12  Plate           -1.841         1.660          -1.207         0              90             0              52
  13  SoapBottle      -0.361         0.118          -1.347         0              0              0              44
  14  Tomato          -1.721         0.618          -0.269         0              90             0              88
  15  Tomato          -1.645         1.524          0.201          0              90             0              88
  16  Bowl            0.214          0.924          0.041          0              0              0              73
  17  Bowl            -1.244         0.111          -1.487         0              0              0              77
  18  Bread           0.000          1.006          0.506          0              0              0              73
  19  Bread           0.889          0.992          -1.707         0              0              0              65
  20  SoapBottle      -0.106         0.929          0.970          0              0              0              73
  21  Cup             1.464          1.677          -1.614         0              0              0              64
  22  Pot             0.889          0.9            -1.412         0              0              0              65
  23  Fork            0.321          0.926          -0.190         0              0              0              73
  24  Ladle           1.195          0.153          -1.479         0              0              0              58
  25  Kettle          1.765          0.938          0.819          0              180            0              62
  26  Egg             0.214          0.982          1.202          0              0              0              73
  27  Plate           0.107          0.924          0.970          0              0              0              73
  28  Pan             -1.286         0.9            -1.348         0              79.769         0              65
  29  Lettuce         0.107          1.002          0.738          0              0              0              73
  30  Spatula         -0.261         0.775          -1.490         0              90             0              89
  31  Apple           -1.855         1.522          0.013          0              90             0              88
  32  Knife           1.900          0.933          1.107          0              180            0              65
  33  SaltShaker      1.924          1.655          -1.053         0              270            0              53
  34  PepperShaker    1.117          0.105          -1.289         0              0              0              58
  35  CellPhone       -0.638         0.909          -1.513         0              0              0              65
  36  ButterKnife     1.661          0.349          -0.088         0              0              0              48
  37  Bread           -0.213         1.006          0.738          0              0              0              73
  38  Tomato          -1.796         0.097          1.329          0              270            0              79
  39  Potato          0.327          0.944          1.311          0              345.000        0              73
  40  DishSponge      -0.088         0.760          -1.324         0              0              0              89
  41  Spoon           0.000          0.926          -0.190         0              0              0              73
  42  Mug             -1.750         0.558          -0.081         0              90             0              88
  43  Bowl            -0.088         0.758          -1.490         0              0              0              89
  44  Cabinet         -0.495         0.474          -1.149         0              0              0
  45  Window          -0.010         1.582          -1.821         0              0              0
  46  Drawer          0.805          0.475          -1.159         0              0              0
  47  StoveBurner     1.764          0.902          0.601          0              270            0
  48  Drawer          1.5            0.196          -0.019         0              0              0
  49  Drawer          1.5            0.629          -0.018         0              0              0
  50  Drawer          1.5            0.602          -0.019         0              270            0
  51  StoveBurner     1.975          0.902          0.384          0              270            0
  52  Cabinet         -1.703         2.022          -1.453         0              90             0
  53  Cabinet         1.789          2.019          -0.819         0              270            0
  54  Cabinet         0.494          0.474          -1.149         0              0              0
  55  Cabinet         0.409          0.475          0.444          0              0              0
  56  Drawer          -0.696         0.475          -1.159         0              0              0
  57  Drawer          1.5            0.140          0.599          0              270            0
  58  Cabinet         1.389          0.474          -1.149         0              0              0
  59  Drawer          1.5            0.305          0.600          0              0              0
  60  StoveBurner     1.975          0.902          0.601          0              270            0
  61  Drawer          1.5            0.429          -0.019         0              0              0
  62  StoveBurner     1.764          0.902          0.819          0              270            0
  63  Drawer          1.5            0.519          1.220          0              0              0
  64  Cabinet         1.705          2.019          -1.449         0              0              0
  65  CounterTop      0.002          0.947          -1.513         0              0              0
  66  Drawer          1.5            0.629          0.605          0              0              0
  67  Cabinet         -0.627         2.019          -1.449         0              0              0
  68  StoveBurner     1.764          0.902          0.384          0              270            0
  69  Drawer          1.5            0.538          0.600          0              0              0
  70  Sink            0.0            0.893          -1.434         0              0              0
  71  Drawer          1.5            0.782          1.220          0              270            0
  72  Window          2.217          1.565          -0.384         0              0              0
  73  CounterTop      -0.014         0.961          0.505          0              0              0
  74  Drawer          1.5            0.200          1.220          0              0              0
  75  StoveBurner     1.975          0.902          0.819          0              270            0
  76  Window          -3.240         1.616          2.693          0              270            0
  77  Cabinet         -1.389         0.474          -1.149         0              0              0
  78  LightSwitch     -0.153         1.291          3.700          0              180            0
  79  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  80  StoveKnob       1.602          0.917          0.570          0              270            180
  81  StoveKnob       1.602          0.917          0.625          0              270            180
  82  StoveKnob       1.602          0.917          0.739          0              270            180
  83  StoveKnob       1.602          0.917          0.680          0              270            180
  84  StoveKnob       1.602          0.917          0.462          0              270            180
  85  StoveKnob       1.602          0.917          0.517          0              270            180
  86  Microwave       1.932          0.899          -0.766         0              270            0
  87  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  88  Fridge          -1.764         0.0            0.014          0              90             0
  89  SinkBasin       -0.014         0.736          -1.435         0              0              0
  90  Toaster         1.977          0.900          -0.336         0              270            0
  91  Faucet          -0.020         1.137          -1.605         0              270            0
  92  Chair           -9.354         0.000          1.242          0              180            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn around, walk around the kitchen island to the fridge.  Then stand in front of the small counter just left of the fridge. | STEP 2: Pick up the knife that is on the counter to the left of the phone. | STEP 3: Turn around, walk around the island to the end furthest from the sink.  Face the right edge of the island with the sink on your left and the island between you and the fridge. | STEP 4: Slice half of the potato that is on the kitchen island just right of the egg. | STEP 5: Walk around the right edge of the island to face the trash can that is to the right of the fridge. | STEP 6: Put the knife into the trash can just behind the tomato. | STEP 7: Turn around and walk around the edge of the kitchen island (the edge with the chair), and face the right edge of the island with the sliced potato on it. | STEP 8: Pick up one slice of potato from off of the kitchen island, next to the egg. | STEP 9: Turn left and walk to the microwave. | STEP 10: Open the microwave door, put the potato slice in the microwave and shut the door.  Microwave the potato slice for a few seconds, then take the slice out of the microwave, shutting the door. | STEP 11: Holding the potato slice, turn around and walk around the kitchen island to face the trash can that is to the right of the fridge. | STEP 12: Put the potato slice into the trash can, to the right of the tomato. | END