Task: To cut a potato as well as place a slice in the freezer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          0.0            0              0              0
   1  Potato          -2.372         0.947          0.631          0              0              0              67
   2  Potato          1.604          0.221          0.706          0              0              0              78
   3  Kettle          1.691          0.929          0.064          0              0              0              50
   4  Pot             -2.313         0.118          1.423          0              0              0              45
   5  Pot             1.411          0.929          0.064          0              0              0              68
   6  Egg             1.531          0.952          -1.201         0              225            0              53
   7  Cup             -2.685         1.535          1.265          0              0              0              52
   8  Cup             -2.680         1.936          -0.634         0              0              0              61
   9  Plate           -0.341         0.913          1.317          0              0              0              39
  10  Tomato          1.729          0.227          0.651          0              0              0              78
  11  SoapBottle      1.353          0.924          -1.239         0              225            0              53
  12  Bread           -0.730         0.996          0.870          0              0              0              39
  13  Bread           -2.289         0.996          0.931          0              0              0              67
  14  Mug             1.426          0.906          0.465          0              0              0              48
  15  Apple           -2.374         0.656          -0.962         0              90             0              71
  16  Pan             0.0            0.9            0.948          0              29.999         0              39
  17  Knife           -0.601         0.936          1.317          0              90             0              39
  18  Apple           -2.206         0.972          1.830          0              0              0              67
  19  Bowl            -2.485         1.297          -0.979         0              90             0              71
  20  Fork            1.418          0.919          -1.034         0              225            0              53
  21  Bread           -2.289         0.996          1.230          0              0              0              67
  22  Plate           -0.341         0.913          0.647          0              0              0              39
  23  Egg             1.396          0.952          -1.336         0              225            0              53
  24  Kettle          0.854          0.900          -1.790         0              0              0              49
  25  Potato          0.195          0.947          -1.710         0              0              0              49
  26  SaltShaker      -2.289         0.905          1.530          0              0              0              67
  27  Lettuce         1.519          0.994          -0.816         0              45             0              49
  28  Cup             1.461          0.920          -1.131         0              225            0              53
  29  SoapBottle      1.697          1.658          0.165          0              0              0              58
  30  Spatula         -2.257         0.789          0.022          0              270            0              57
  31  PaperTowelRoll  -2.704         1.015          0.631          0              0              0              67
  32  ButterKnife     -0.211         0.910          0.423          0              0              0              39
  33  PepperShaker    -2.277         0.109          0.541          0              0              0              64
  34  DishSponge      1.684          0.910          0.376          0              0              0              48
  35  Pot             1.412          0.929          -0.335         0              0              0              40
  36  Spoon           -2.379         0.774          0.857          0              90             0              44
  37  Tomato          -2.485         1.131          -0.790         0              90             0              71
  38  Mug             -2.455         0.905          1.530          0              0              0              67
  39  CounterTop      -0.360         0.946          1.093          0              0              0
  40  StoveBurner     1.412          0.923          -0.335         0              0              0
  41  StoveKnob       1.878          1.093          0.018          287.989        90             0
  42  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  43  Cabinet         -2.446         1.948          2.924          0              0              0
  44  Drawer          -2.276         0.792          0.902          0              0              0
  45  Cabinet         -2.145         0.402          1.578          0              0              0
  46  Cabinet         0.149          2.008          -1.603         0              90             0
  47  StoveBurner     1.691          0.923          -0.335         0              0              0
  48  CounterTop      1.585          0.946          0.405          0              0              0
  49  CounterTop      0.474          0.946          -1.625         0              0              0
  50  StoveBurner     1.691          0.923          0.064          0              0              0
  51  Cabinet         -2.446         1.948          1.687          0              0              0
  52  Cabinet         -2.446         1.948          1.640          0              0              0
  53  Sink            1.381          0.810          -1.271         0              225            0
  54  StoveKnob       1.878          1.093          0.150          287.989        90             0
  55  Cabinet         -2.145         0.402          -0.236         0              0              0
  56  Drawer          -2.276         0.792          0.437          0              0              0
  57  Drawer          -2.276         0.792          -0.027         0              0              0
  58  Cabinet         1.572          2.008          0.474          0              0              0
  59  Cabinet         1.572          2.008          -0.775         0              0              0
  60  Cabinet         -2.445         2.148          -1.275         0              0              0
  61  Cabinet         -2.446         2.148          -0.284         0              0              0
  62  Cabinet         -2.446         1.948          0.355          0              0              0
  63  Cabinet         -2.446         1.948          0.405          0              0              0
  64  Cabinet         -2.145         0.402          0.644          0              0              0
  65  Cabinet         -2.145         0.402          0.695          0              0              0
  66  Cabinet         -2.285         1.968          -1.325         0              180            0
  67  CounterTop      -1.485         0.946          1.319          0              0              0
  68  StoveBurner     1.411          0.923          0.064          0              0              0
  69  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  70  Drawer          -2.276         0.792          1.368          0              0              0
  71  Fridge          -2.475         0.0            -0.782         0              90             0
  72  LightSwitch     -0.929         1.350          -1.950         0              0              0
  73  Toaster         -2.564         0.900          1.876          0              90             0
  74  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  75  Window          1.508          1.534          -1.496         90             135            0
  76  Window          1.973          1.521          1.121          90             90             0
  77  SinkBasin       1.149          0.753          -1.380         0              225            0
  78  GarbageCan      1.646          -0.000         0.679          0              0              0
  79  Microwave       -2.580         0.900          2.440          0              90             0
  80  Stool           0.439          0.010          0.747          0              0              0
  81  Stool           -2.303         0.010          1.839          0              0              0
  82  Faucet          1.235          1.138          -1.473         0              225            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Step to the left and face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn right and walk over to face the trash can. | STEP 4: Cut the potato in the trash can into slices. | STEP 5: Turn right and walk forward and then turn right and walk straight across the room to face the fridge. | STEP 6: Put the knife in the freezer at the top of the fridge. | STEP 7: Turn around and walk across the room, then turn right and walk forward and then turn right to face the trash can. | STEP 8: Pick up a slice of potato from in the trash can. | STEP 9: Turn left and walk across the room then turn left and walk forward to face the microwave. | STEP 10: Heat the potato slice in the microwave and then remove it. | STEP 11: Turn left and cross the room and face the fridge on the right. | STEP 12: Place the slice of potato in the freezer. | END