Task: Pick up potato from sink area, put in refrigerator to cool, put in garbage.

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          1.5            0              0              0
   1  Potato          1.553          0.935          1.333          0              0              0              72
   2  CellPhone       1.710          0.693          -0.080         0              0              0              56
   3  CellPhone       1.762          0.543          1.350          0              0              0              70
   4  Ladle           0.107          0.969          0.738          0              0              0              80
   5  Ladle           1.658          0.626          -0.165         0              270            0              57
   6  DishSponge      1.117          0.911          -1.610         0              0              0              72
   7  ButterKnife     1.117          0.911          -1.415         0              0              0              72
   8  Fork            0.214          0.926          0.970          0              0              0              80
   9  Fork            -1.902         0.912          -1.013         0              0              0              72
  10  Spatula         -1.551         0.926          -1.013         0              0              0              72
  11  Pot             1.975          0.938          0.384          0              180            0              58
  12  Egg             0.321          0.982          0.738          0              0              0              80
  13  Egg             -1.855         1.733          0.201          0              90             0              95
  14  Plate           -0.305         0.113          -1.472         0              0              0              51
  15  Plate           -0.106         0.924          0.273          0              0              0              80
  16  Knife           1.562          0.247          1.153          0              90             0              81
  17  Knife           -1.668         0.933          -1.610         0              0              0              72
  18  SoapBottle      -0.320         0.929          0.506          0              0              0              80
  19  SoapBottle      -0.213         0.929          0.041          0              0              0              80
  20  Tomato          -0.088         0.815          -1.435         0              0              0              96
  21  Tomato          2.073          0.966          1.107          0              0              0              72
  22  Bowl            0.000          0.924          1.202          0              0              0              80
  23  Lettuce         -0.213         1.002          -0.190         0              0              0              80
  24  Lettuce         -1.750         1.545          0.201          0              90             0              95
  25  Mug             1.355          0.955          -1.362         0              0              0              94
  26  Apple           -1.697         1.729          -0.175         0              90             0              95
  27  SoapBottle      -0.320         0.929          0.273          0              0              0              80
  28  Cup             -1.697         1.467          -0.269         0              90             0              95
  29  Pot             1.975          0.938          0.819          0              180            0              82
  30  Fork            0.000          0.926          -0.190         0              0              0              80
  31  Ladle           1.661          0.514          -0.088         0              0              0              68
  32  Kettle          1.681          0.9            0.091          0              0              0              72
  33  Egg             0.256          0.817          -1.435         0              0              0              96
  34  Plate           0.194          0.111          -1.408         0              0              0              61
  35  Pan             -1.286         0.9            -1.348         0              79.769         0              72
  36  Lettuce         -0.106         1.002          0.738          0              0              0              80
  37  Spatula         -0.106         0.940          -0.190         0              90             0              80
  38  Apple           -1.855         1.729          -0.175         0              90             0              95
  39  Knife           -1.462         0.933          -1.610         0              0              0              72
  40  SaltShaker      0.214          0.921          1.202          0              0              0              80
  41  PepperShaker    -0.906         0.667          -1.332         0              0              0              63
  42  CellPhone       1.726          0.909          1.107          0              0              0              72
  43  ButterKnife     1.764          0.346          0.531          0              0              0              66
  44  Bread           0.321          1.006          0.506          0              0              0              80
  45  Tomato          -1.692         0.618          0.013          0              90             0              95
  46  Potato          -0.175         0.784          -1.546         0              0              0              96
  47  DishSponge      1.610          0.236          -0.020         0              0              0              55
  48  Spoon           2.030          0.912          -1.610         0              0              0              72
  49  Mug             2.020          1.001          -0.599         0              0              0              93
  50  Bowl            0.083          0.758          -1.435         0              0              0              96
  51  Cabinet         -0.495         0.474          -1.149         0              0              0
  52  Window          -0.010         1.582          -1.821         0              0              0
  53  Drawer          0.805          0.475          -1.159         0              0              0
  54  StoveBurner     1.764          0.902          0.601          0              270            0
  55  Drawer          1.5            0.196          -0.019         0              0              0
  56  Drawer          1.5            0.629          -0.018         0              0              0
  57  Drawer          1.5            0.602          -0.019         0              270            0
  58  StoveBurner     1.975          0.902          0.384          0              270            0
  59  Cabinet         -1.703         2.022          -1.453         0              90             0
  60  Cabinet         1.789          2.019          -0.819         0              270            0
  61  Cabinet         0.494          0.474          -1.149         0              0              0
  62  Cabinet         0.409          0.475          0.444          0              0              0
  63  Drawer          -0.696         0.475          -1.159         0              0              0
  64  Drawer          1.5            0.140          0.599          0              270            0
  65  Cabinet         1.389          0.474          -1.149         0              0              0
  66  Drawer          1.5            0.305          0.600          0              0              0
  67  StoveBurner     1.975          0.902          0.601          0              270            0
  68  Drawer          1.5            0.429          -0.019         0              0              0
  69  StoveBurner     1.764          0.902          0.819          0              270            0
  70  Drawer          1.5            0.519          1.220          0              0              0
  71  Cabinet         1.705          2.019          -1.449         0              0              0
  72  CounterTop      0.002          0.947          -1.513         0              0              0
  73  Drawer          1.5            0.629          0.605          0              0              0
  74  Cabinet         -0.627         2.019          -1.449         0              0              0
  75  StoveBurner     1.764          0.902          0.384          0              270            0
  76  Drawer          1.5            0.538          0.600          0              0              0
  77  Sink            0.0            0.893          -1.434         0              0              0
  78  Drawer          1.5            0.782          1.220          0              270            0
  79  Window          2.217          1.565          -0.384         0              0              0
  80  CounterTop      -0.014         0.961          0.505          0              0              0
  81  Drawer          1.5            0.200          1.220          0              0              0
  82  StoveBurner     1.975          0.902          0.819          0              270            0
  83  Window          -3.240         1.616          2.693          0              270            0
  84  Cabinet         -1.389         0.474          -1.149         0              0              0
  85  LightSwitch     -0.153         1.291          3.700          0              180            0
  86  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  87  StoveKnob       1.602          0.917          0.570          0              270            180
  88  StoveKnob       1.602          0.917          0.625          0              270            180
  89  StoveKnob       1.602          0.917          0.739          0              270            180
  90  StoveKnob       1.602          0.917          0.680          0              270            180
  91  StoveKnob       1.602          0.917          0.462          0              270            180
  92  StoveKnob       1.602          0.917          0.517          0              270            180
  93  Microwave       1.932          0.899          -0.766         0              270            0
  94  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  95  Fridge          -1.764         0.0            0.014          0              90             0
  96  SinkBasin       -0.014         0.736          -1.435         0              0              0
  97  Toaster         1.977          0.900          -0.336         0              270            0
  98  Faucet          -0.020         1.137          -1.605         0              270            0
  99  Chair           -9.354         0.000          1.242          0              180            0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn around, proceed across to counter.  Turn right, proceed to sink.  Turn left to face sink. | STEP 2: Pick up potato from back of sink, behind tomato. | STEP 3: Turn right, go to refrigerator. | STEP 4: Open refrigerator, put on shelf above tomato, close refrigerator.  Wait four seconds.  Open refrigerator, remove potato, shut door. | STEP 5: Turn right, go to garbage can on left.  Turn left to face garbage can. | STEP 6: Place potato in garbage can. | END