Task: Throwing a potato slice in the 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           -0.75          0.900          0.5            0              90             0
   1  Pan             1.765          0.938          0.384          0              180            0              73
   2  Potato          -0.638         0.935          -1.707         0              0              0              70
   3  Potato          0.321          0.949          0.506          0              0              0              78
   4  Potato          -0.320         0.949          0.506          0              0              0              78
   5  Ladle           1.802          0.955          -1.610         0              0              0              70
   6  ButterKnife     -1.668         0.911          -1.318         0              0              0              70
   7  ButterKnife     -0.106         0.925          0.506          0              0              0              78
   8  Pot             1.975          0.938          0.819          0              180            0              80
   9  Cup             -0.175         0.758          -1.546         0              0              0              94
  10  Cup             0.256          0.758          -1.490         0              0              0              94
  11  Knife           0.107          0.947          0.506          0              0              0              78
  12  Knife           0.214          0.947          1.202          0              0              0              78
  13  SoapBottle      -0.361         0.118          -1.284         0              0              0              49
  14  Tomato          -1.874         0.966          -1.707         0              0              0              70
  15  Tomato          -1.050         0.966          -1.415         0              0              0              70
  16  Bowl            1.956          1.004          -0.808         0              270            0              91
  17  SaltShaker      -1.918         1.658          -0.980         0              90             0              57
  18  PepperShaker    1.095          1.675          -1.690         0              0              0              69
  19  PepperShaker    -0.596         0.667          -1.270         0              0              0              61
  20  Bread           -0.106         1.006          0.970          0              0              0              78
  21  Lettuce         -0.106         1.002          0.041          0              0              0              78
  22  Lettuce         -1.814         0.988          -0.964         0              0              0              70
  23  Apple           -0.106         0.978          0.738          0              0              0              78
  24  Apple           -0.002         0.813          -1.380         0              0              0              94
  25  SoapBottle      0.107          0.929          0.273          0              0              0              78
  26  Cup             1.587          1.677          -1.614         0              0              0              69
  27  Pot             0.250          0.116          -1.345         0              0              0              59
  28  Fork            1.932          0.912          -0.131         0              90             0              70
  29  Ladle           -1.114         1.724          -1.614         0              0              0              72
  30  Kettle          -1.197         0.114          -1.423         0              0              0              82
  31  Egg             1.839          0.968          -0.131         0              0              0              70
  32  Plate           0.214          0.924          0.970          0              0              0              78
  33  Pan             1.986          0.911          1.182          0              90             0              70
  34  Lettuce         0.000          1.002          1.202          0              0              0              78
  35  Spatula         1.860          0.704          0.478          0              90             0              71
  36  Apple           1.988          1.059          -0.651         0              270            0              91
  37  Knife           0.000          0.947          0.273          0              0              0              78
  38  SaltShaker      -0.213         0.921          0.273          0              0              0              78
  39  PepperShaker    1.862          0.541          1.350          0              0              0              68
  40  CellPhone       -1.814         0.909          -1.063         0              0              0              70
  41  ButterKnife     0.000          0.925          -0.190         0              0              0              78
  42  Bread           0.256          0.987          -0.076         0              330.886        0              78
  43  Tomato          0.321          0.980          0.738          0              0              0              78
  44  Potato          -1.855         1.492          -0.175         0              90             0              93
  45  DishSponge      -0.175         0.760          -1.380         0              0              0              94
  46  Spoon           1.760          0.696          0.543          0              0              0              71
  47  Mug             1.355          0.955          -1.362         0              0              0              92
  48  Bowl            2.001          1.657          -1.204         0              270            0              58
  49  Cabinet         -0.495         0.474          -1.149         0              0              0
  50  Window          -0.010         1.582          -1.821         0              0              0
  51  Drawer          0.805          0.475          -1.159         0              0              0
  52  StoveBurner     1.764          0.902          0.601          0              270            0
  53  Drawer          1.5            0.196          -0.019         0              0              0
  54  Drawer          1.5            0.629          -0.018         0              0              0
  55  Drawer          1.5            0.602          -0.019         0              270            0
  56  StoveBurner     1.975          0.902          0.384          0              270            0
  57  Cabinet         -1.703         2.022          -1.453         0              90             0
  58  Cabinet         1.789          2.019          -0.819         0              270            0
  59  Cabinet         0.494          0.474          -1.149         0              0              0
  60  Cabinet         0.409          0.475          0.444          0              0              0
  61  Drawer          -0.696         0.475          -1.159         0              0              0
  62  Drawer          1.5            0.140          0.599          0              270            0
  63  Cabinet         1.389          0.474          -1.149         0              0              0
  64  Drawer          1.5            0.305          0.600          0              0              0
  65  StoveBurner     1.975          0.902          0.601          0              270            0
  66  Drawer          1.5            0.429          -0.019         0              0              0
  67  StoveBurner     1.764          0.902          0.819          0              270            0
  68  Drawer          1.5            0.519          1.220          0              0              0
  69  Cabinet         1.705          2.019          -1.449         0              0              0
  70  CounterTop      0.002          0.947          -1.513         0              0              0
  71  Drawer          1.5            0.629          0.605          0              0              0
  72  Cabinet         -0.627         2.019          -1.449         0              0              0
  73  StoveBurner     1.764          0.902          0.384          0              270            0
  74  Drawer          1.5            0.538          0.600          0              0              0
  75  Sink            0.0            0.893          -1.434         0              0              0
  76  Drawer          1.5            0.782          1.220          0              270            0
  77  Window          2.217          1.565          -0.384         0              0              0
  78  CounterTop      -0.014         0.961          0.505          0              0              0
  79  Drawer          1.5            0.200          1.220          0              0              0
  80  StoveBurner     1.975          0.902          0.819          0              270            0
  81  Window          -3.240         1.616          2.693          0              270            0
  82  Cabinet         -1.389         0.474          -1.149         0              0              0
  83  LightSwitch     -0.153         1.291          3.700          0              180            0
  84  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  85  StoveKnob       1.602          0.917          0.570          0              270            180
  86  StoveKnob       1.602          0.917          0.625          0              270            180
  87  StoveKnob       1.602          0.917          0.739          0              270            180
  88  StoveKnob       1.602          0.917          0.680          0              270            180
  89  StoveKnob       1.602          0.917          0.462          0              270            180
  90  StoveKnob       1.602          0.917          0.517          0              270            180
  91  Microwave       1.932          0.899          -0.766         0              270            0
  92  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  93  Fridge          -1.764         0.0            0.014          0              90             0
  94  SinkBasin       -0.014         0.736          -1.435         0              0              0
  95  Toaster         1.977          0.900          -0.336         0              270            0
  96  Faucet          -0.020         1.137          -1.605         0              270            0
  97  Chair           -9.354         0.000          1.242          0              180            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Walk to the opposite side of the kitchen island | STEP 2: Grab the potato off of the counter | STEP 3: Look at the entire counter | STEP 4: Put the potato on the counter | STEP 5: Grab the large knife off of the counter | STEP 6: Cut the potato into slices | STEP 7: Put the knife down on the counter | STEP 8: Grab one of the slices of potato | STEP 9: Turn around and go to the microwave | STEP 10: Heat the potato in the microwave and then take it out | STEP 11: Turn around and locate the trash can | STEP 12: Put the potato in the trash can | END