Task: slice up two potatoes in a green waste basket

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -1.0           0              0              0
   1  Pan             -1.471         0.940          -3.829         0              180            0              37
   2  Potato          -0.397         1.520          -0.645         0              270            0              67
   3  DishSponge      -4.122         0.690          -0.430         0              0              0              72
   4  DishSponge      -0.605         0.813          -3.376         0              315            0              66
   5  Spoon           -0.440         0.753          -2.685         0              0              0              42
   6  Spoon           -3.418         0.761          -3.738         0              334.125        0              73
   7  Egg             -3.788         0.801          -3.328         0              109.125        0              73
   8  Tomato          -0.376         1.337          -0.529         0              270            0              67
   9  Tomato          -2.560         0.945          -0.462         0              270            0              74
  10  Bowl            -0.293         1.284          -0.878         0              270            0              67
  11  Lettuce         -0.283         1.579          -0.297         0              270            0              67
  12  Lettuce         -3.364         0.985          -0.204         0              270            0              74
  13  SaltShaker      -3.496         0.756          -3.430         0              109.125        0              73
  14  SaltShaker      -3.565         0.890          -0.376         0              270            0              74
  15  PepperShaker    -3.882         0.686          -0.248         0              0              0              72
  16  SoapBottle      -2.387         0.097          -3.538         0              0              0              62
  17  Pot             -0.222         0.961          -1.845         0              180            0              39
  18  Fork            -4.002         0.691          -0.187         0              0              0              72
  19  Cup             -0.529         0.814          -3.221         0              315            0              66
  20  Tomato          -3.954         0.810          -3.337         0              109.125        0              73
  21  Pan             -0.222         0.961          -2.243         0              0              0              56
  22  Plate           -0.164         1.953          -2.232         0              0              0              47
  23  Bread           -3.578         0.841          -3.007         0              199.125        0              73
  24  Spatula         -0.566         0.828          -3.415         0              315            0              66
  25  Knife           -1.694         0.967          -3.517         0              0              0              37
  26  SaltShaker      -1.092         0.749          -3.447         0              0              0              43
  27  PepperShaker    -0.509         0.076          -2.906         0              0              0              50
  28  ButterKnife     -4.002         0.691          -0.369         0              0              0              72
  29  Apple           -0.234         1.636          -1.990         0              270            0              69
  30  DishSponge      -0.968         0.941          -3.759         0              45             0              37
  31  Potato          -0.552         0.973          -1.538         0              0              0              55
  32  Egg             -3.942         0.731          -0.309         0              0              0              72
  33  Spoon           -2.962         0.895          -0.548         0              270            0              74
  34  Lettuce         -4.122         0.782          -0.248         0              0              0              72
  35  Mug             -3.942         0.686          -0.491         0              0              0              72
  36  Bowl            -0.175         1.936          -1.108         0              0              0              45
  37  CounterTop      -1.937         0.977          -3.673         0              0              0
  38  StoveBurner     -0.437         0.924          -1.845         0              180            0
  39  StoveBurner     -0.222         0.924          -1.845         0              180            0
  40  StoveBurner     -0.437         0.924          -2.243         0              0              0
  41  Drawer          -0.500         0.779          -1.450         0              0              0
  42  Drawer          -0.481         0.777          -2.739         0              0              0
  43  Drawer          -1.154         0.782          -3.499         0              0              0
  44  Cabinet         -0.337         2.110          -0.390         0              0              0
  45  Cabinet         -0.337         2.110          -1.272         0              0              0
  46  Cabinet         -0.337         2.110          -1.631         0              0              0
  47  Cabinet         -0.337         2.110          -2.497         0              0              0
  48  Cabinet         -0.337         1.891          -1.286         0              0              0
  49  Cabinet         -0.346         1.891          -3.293         0              0              0
  50  Cabinet         -0.629         0.388          -2.513         0              0              0
  51  Cabinet         -0.633         0.388          -3.008         0              0              0
  52  Cabinet         -1.010         0.388          -3.368         0              0              0
  53  Cabinet         -0.629         0.388          -1.614         0              0              0
  54  Cabinet         -0.327         1.886          -2.513         0              0              0
  55  CounterTop      -0.326         0.976          -1.450         0              0              0
  56  StoveBurner     -0.222         0.924          -2.243         0              0              0
  57  Sink            -0.600         0.929          -3.388         0              0              0
  58  StoveKnob       -0.617         0.899          -1.833         315            90             180
  59  StoveKnob       -0.617         0.899          -2.129         315            90             180
  60  StoveKnob       -0.617         0.899          -2.289         315            90             180
  61  StoveKnob       -0.617         0.899          -1.975         315            90             180
  62  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  63  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  64  Window          -1.389         1.610          -4.113         90             0              0
  65  LightSwitch     -4.372         1.493          -1.031         0              90             0
  66  SinkBasin       -0.614         0.802          -3.384         0              315            0
  67  Fridge          -0.314         0.0            -0.646         0              0              0
  68  Toaster         -1.970         0.930          -3.763         0              0              0
  69  Microwave       -0.216         1.470          -2.054         0              270            0
  70  Blinds          -1.373         2.205          -3.961         0              0              0
  71  Faucet          -0.393         0.930          -3.614         270            225            0
  72  SideTable       -4.030         0.002          -0.301         0              185.034        0
  73  DiningTable     -3.586         0.000          -3.258         0              0              0
  74  DiningTable     -3.224         -0.003         -0.453         0              0              0
  75  Shelf           -4.030         0.259          -0.301         0              185.034        0
  76  Shelf           -4.030         0.489          -0.301         0              185.034        0
  77  EastWall
  78  EastWall
  79  SouthWall

Plan:
STEP 1: turn to the right twice and take a few steps and turn to the left and go to the counter | STEP 2: pick up the potato from the counter top | STEP 3: turn to the right twice and go to the middle of the room and turn to the left and go to the counter top | STEP 4: put the potato in the green waste basket underneath the counter top | STEP 5: turn to the left and take a few steps and turn to the left and go to the front of the refrigerator and turn to the right and go to the refrigerator | STEP 6: open the refrigerator door and take out the potato on the top shelf and close the door | STEP 7: turn to the right and take a step and turn to the right and go to the middle of the room and turn to the left and go to the counter top | STEP 8: put the potato in the green waste basket underneath the counter top | STEP 9: turn to the left and take a few steps and turn to the right facing the counter | STEP 10: pick up the yellow handle knife from the counter top | STEP 11: turn to the right and take a few steps and turn to the left facing the counter | STEP 12: slice up the two potatoes with the knife in the green waste basket | END