Task: Slice the potato, chill it, and put in the recycling bin.

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          -0.5           0              0              0
   1  Kettle          1.361          0.962          0.561          0              270            0              55
   2  DishSponge      0.300          0.911          0.292          0              0              0              49
   3  DishSponge      -0.418         1.328          -1.736         0              180            0              44
   4  ButterKnife     -2.614         0.952          0.524          0              270            0              83
   5  ButterKnife     1.658          0.912          -1.737         0              0              0              50
   6  Fork            -2.203         0.952          0.435          0              90             0              83
   7  Fork            0.908          0.920          -1.649         0              90             0              48
   8  Spoon           1.858          0.775          0.339          0              270            0              51
   9  Egg             0.271          0.811          -1.648         0              270            0              73
  10  Cup             -1.872         0.779          -1.763         0              0              0              80
  11  Cup             -2.135         0.509          -1.806         0              0              0              80
  12  Plate           1.785          0.913          0.458          0              0              0              65
  13  Plate           -1.791         0.953          0.524          0              90             0              83
  14  SaltShaker      -2.614         0.948          0.435          0              90             0              83
  15  SaltShaker      -2.203         0.948          0.165          0              90             0              83
  16  PepperShaker    0.564          0.908          0.209          0              0              0              49
  17  PepperShaker    1.901          1.325          -1.736         0              180            0              66
  18  Lettuce         -1.791         1.042          0.255          0              90             0              83
  19  Mug             -0.028         0.101          0.358          0              0              0              60
  20  Mug             -0.923         1.010          -1.704         0              0              0              72
  21  Bread           -2.065         1.035          0.345          0              90             0              83
  22  Knife           0.035          0.937          0.458          0              0              0              49
  23  Fork            1.846          0.912          0.209          0              0              0              65
  24  Bowl            -2.222         1.051          -1.720         0              0              0              80
  25  Kettle          -0.267         0.913          -1.820         0              0              0              50
  26  Cup             -2.065         0.950          0.614          0              90             0              83
  27  Tomato          0.908          0.968          -1.848         0              270            0              48
  28  SoapBottle      -2.477         0.950          0.704          0              90             0              83
  29  Plate           0.445          0.111          0.308          0              0              0              61
  30  Pot             1.007          0.962          0.561          0              270            0              52
  31  Spatula         -2.065         0.967          0.165          0              180            0              83
  32  PaperTowelRoll  -2.477         1.056          0.255          0              90             0              83
  33  Egg             -1.959         1.086          -1.720         0              0              0              80
  34  Lettuce         1.535          1.002          -1.489         0              0              0              50
  35  SaltShaker      1.681          1.325          -1.699         0              180            0              66
  36  PepperShaker    -0.729         0.107          -1.434         0              0              0              64
  37  Apple           -0.359         0.979          -1.654         0              0              0              50
  38  ButterKnife     -1.928         0.952          0.345          0              90             0              83
  39  Potato          0.701          0.949          -1.782         0              270            0              48
  40  Pan             1.022          0.959          0.288          0              219.190        0              62
  41  DishSponge      -2.340         0.951          0.614          0              90             0              83
  42  Spoon           0.701          0.920          -1.582         0              270            0              48
  43  Mug             -1.079         1.010          -1.803         0              90             0              72
  44  Cabinet         -0.193         1.688          -1.648         0              180            0
  45  StoveBurner     1.360          0.957          0.293          0              180            0
  46  Drawer          0.499          0.792          0.296          0              0              0
  47  Cabinet         0.095          0.400          -1.352         0              180            0
  48  Sink            0.711          0.817          -1.772         0              270            0
  49  CounterTop      0.280          0.947          0.458          0              0              0
  50  CounterTop      -0.680         0.947          -1.654         0              0              0
  51  Drawer          1.825          0.792          0.296          0              0              0
  52  StoveBurner     1.007          0.957          0.561          0              270            0
  53  Drawer          -0.150         0.792          -1.496         0              0              0
  54  Drawer          -0.586         0.792          -1.496         0              0              0
  55  StoveBurner     1.360          0.957          0.561          0              270            0
  56  Drawer          0.024          0.792          0.296          0              0              0
  57  Cabinet         1.079          0.400          -1.349         0              180            0
  58  Cabinet         1.669          0.402          0.151          0              0              0
  59  Cabinet         0.055          0.402          -1.351         0              0              0
  60  Cabinet         -0.180         0.402          0.151          0              0              0
  61  Cabinet         0.729          0.402          0.151          0              0              0
  62  StoveBurner     1.007          0.957          0.293          0              180            0
  63  Drawer          -1.100         0.792          -1.496         0              0              0
  64  Cabinet         -0.396         0.402          -1.351         0              0              0
  65  CounterTop      1.776          0.947          0.458          0              0              0
  66  Cabinet         1.974          1.688          -1.648         0              180            0
  67  Cabinet         -0.820         0.400          -1.349         0              180            0
  68  Toaster         0.305          0.900          0.552          0              180            0
  69  LightSwitch     -2.756         1.307          -0.987         0              90             0
  70  Window          0.582          1.613          -1.967         90             0              0
  71  Window          1.969          1.5            -0.615         90             270            0
  72  Microwave       -1.037         0.900          -1.723         0              0              0
  73  SinkBasin       0.377          0.765          -1.655         0              270            0
  74  CoffeeMachine   0.618          0.900          0.600          0              180            0
  75  StoveKnob       1.246          0.913          0.118          45             180            0
  76  StoveKnob       1.373          0.913          0.118          45             180            0
  77  StoveKnob       0.995          0.913          0.118          45             180            0
  78  StoveKnob       1.126          0.913          0.118          45             180            0
  79  GarbageCan      -0.368         -0.029         0.539          0              90             0
  80  Fridge          -2.134         0.0            -1.690         0              0              0
  81  Faucet          0.549          1.046          -1.833         0              232.527        0
  82  Stool           -1.475         0.000          0.414          1.233          280.375        0
  83  DiningTable     -2.255         -0.004         0.432          0              0              0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn right and walk to the beginning of the counter on the left.  Turn left by the knife, toaster, and sponge. | STEP 2: Step forward and pick up the knife on the counter. | STEP 3: Turn around and walk to the sink. | STEP 4: Slice the potato sitting to the left of the sink. | STEP 5: Holding the knife turn right and walk to the wall.  Turn left and face the refrigerator. | STEP 6: Open the refrigerator and put the knife inside on the middle shelf .  Close the door. | STEP 7: Turn left and walk back to the sink. | STEP 8: Grab a slice of potato. | STEP 9: Turn right and walk to the wall.  Turn left and face the refrigerator. | STEP 10: Open the refrigerator and put the knife inside on the top shelf to the right of the egg .  Close the door.  Open the door and pull out the slice of potato. | STEP 11: Take one step left and turn left toward the recycling bin.  Walk to the recycling bin | STEP 12: Put the potato slice in the recycling bin. | END