Task: put a clean potato in to 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           -1.0           0.901          -0.75          0              0              0
   1  Potato          -2.753         0.760          -0.206         0              225            0              85
   2  DishSponge      -0.380         1.296          -3.702         0              45             0              61
   3  ButterKnife     -2.270         0.913          -3.581         0              0              0              41
   4  ButterKnife     -0.095         0.916          -1.616         0              0              0              68
   5  Spatula         -0.095         0.930          -1.432         0              0              0              68
   6  Fork            -1.914         0.791          -3.704         0              270            0              83
   7  Fork            -0.338         0.916          -1.616         0              0              0              68
   8  Cup             -0.118         1.294          -0.771         0              0              0              48
   9  Plate           -0.076         0.911          -3.012         0              0              0              41
  10  Plate           -3.225         0.911          -2.926         0              0              0              41
  11  Tomato          -2.576         0.763          -0.383         0              225            0              85
  12  SoapBottle      -0.169         1.294          -1.428         0              0              0              47
  13  SoapBottle      -0.095         0.915          -0.507         0              0              0              68
  14  PepperShaker    -3.477         0.910          -3.026         0              0              0              41
  15  PepperShaker    -0.489         0.077          -3.139         0              0              0              52
  16  Mug             -2.930         0.763          -0.358         0              135            0              81
  17  Mug             -3.234         0.636          -1.941         0              90             0              82
  18  Apple           -3.079         1.056          -2.064         0              90             0              82
  19  Apple           -0.065         1.055          -0.752         0              270            0              78
  20  Pot             -2.836         0.903          -3.745         0              92.628         0              41
  21  Egg             -0.176         0.951          -0.507         0              0              0              68
  22  Cup             -3.130         1.399          -2.002         0              90             0              82
  23  Bread           -2.865         0.757          -0.638         0              0              0              85
  24  Fork            -2.740         0.717          -0.780         0              0              0              85
  25  Pan             -0.376         0.975          -2.031         0              180            0              70
  26  Potato          -3.182         1.057          -2.125         0              90             0              82
  27  Lettuce         -1.323         0.988          -3.758         1.039          253.596        356.130        41
  28  Tomato          -2.928         0.763          -0.922         0              0              0              85
  29  Apple           -2.581         0.756          -0.683         0              270            0              85
  30  SoapBottle      -3.393         0.913          -3.327         0              0              0              41
  31  Spatula         -0.471         0.761          -1.331         0              90             0              64
  32  SaltShaker      -0.502         0.742          -3.288         0              0              0              69
  33  Knife           -0.338         0.948          -0.490         0              0              0              68
  34  PepperShaker    -0.500         0.912          -1.370         0              0              0              68
  35  ButterKnife     -3.111         0.713          -0.652         0              225            0              85
  36  Plate           -0.452         0.078          -0.915         0              0              0              45
  37  DishSponge      -1.707         0.790          -3.704         0              0              0              83
  38  Spoon           -0.244         0.914          -3.012         0              0              0              41
  39  Mug             -0.144         1.289          -1.580         0              0              0              47
  40  Bowl            -0.411         0.078          -2.910         0              0              0              52
  41  CounterTop      -1.789         0.949          -3.803         0              0              0
  42  Cabinet         -0.577         0.388          -3.476         0              0              0
  43  Cabinet         -0.605         0.388          -3.511         0              0              0
  44  Cabinet         -2.976         0.388          -3.201         0              0              0
  45  Cabinet         -0.577         0.388          -0.447         0              0              0
  46  Cabinet         -0.577         0.388          -1.725         0              0              0
  47  Cabinet         -0.226         1.803          -1.743         0              0              0
  48  Cabinet         -0.228         1.799          -0.447         0              0              0
  49  Cabinet         -6.010         1.139          -6.019         0              0              0
  50  Cabinet         -3.022         2.098          -2.681         0              0              0
  51  Cabinet         -3.022         2.098          -1.743         0              0              0
  52  Cabinet         -0.577         0.388          -2.736         0              0              0
  53  Cabinet         -3.232         1.803          -3.343         0              0              0
  54  Cabinet         -2.811         1.810          -3.764         0              0              0
  55  Cabinet         -1.233         1.810          -3.764         0              0              0
  56  Cabinet         -1.364         0.388          -3.511         0              0              0
  57  Cabinet         -1.380         0.388          -3.511         0              0              0
  58  Cabinet         -0.226         1.803          -2.725         0              0              0
  59  Cabinet         -0.236         2.098          -1.767         0              0              0
  60  Cabinet         -0.236         2.098          -2.705         0              0              0
  61  Cabinet         -0.193         1.210          -4.239         0              0              0
  62  Cabinet         -2.148         0.388          -3.511         0              0              0
  63  Drawer          -3.104         0.797          -2.968         0              0              0
  64  Drawer          -0.449         0.797          -1.410         0              0              0
  65  Sink            -1.786         0.902          -3.748         0              0              0
  66  StoveBurner     -0.376         0.936          -2.451         0              0              0
  67  Drawer          -0.449         0.797          -0.762         0              0              0
  68  CounterTop      -0.268         0.951          -1.089         0              0              0
  69  Drawer          -0.449         0.797          -3.348         0              0              0
  70  StoveBurner     -0.376         0.936          -2.031         0              180            0
  71  Drawer          -0.449         0.797          -2.968         0              0              0
  72  StoveBurner     -0.165         0.936          -2.030         0              180            0
  73  StoveBurner     -0.165         0.936          -2.450         0              0              0
  74  StoveKnob       -0.568         0.903          -2.313         45             270            0
  75  StoveKnob       -0.568         0.903          -2.470         45             270            0
  76  StoveKnob       -0.568         0.903          -2.166         45             270            0
  77  StoveKnob       -0.568         0.903          -2.003         45             270            0
  78  Microwave       -0.143         0.903          -0.908         0              270            0
  79  LightSwitch     -1.108         1.457          0.338          0              180            0
  80  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  81  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  82  Fridge          -3.188         0.0            -2.184         0              0              0
  83  SinkBasin       -1.786         0.779          -3.747         0              0              0
  84  Toaster         -0.230         0.903          -3.406         0              270            0
  85  DiningTable     -2.800         0.003          -0.505         0              0              0
  86  Chair           -3.044         0.003          -1.223         0              32.194         0
  87  Faucet          -1.791         1.136          -3.913         0              270            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: turn to the left and move to the round table | STEP 2: pick up the potato off of the round table | STEP 3: turn left and move forward across the room to the sink | STEP 4: put the potato in to the sink, turn on the water to clean the potato, turn off the water and remove the potato from the sink | STEP 5: turn around and move forward to the end of the kitchen to the trash can on the right side in the corner | STEP 6: put the potato in to the trash can | END