Task: Slice a potato with a knife in order to throw it away.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.914          1.75           0              0              0
   1  DishSponge      -3.081         0.915          1.607          0              0              0              49
   2  DishSponge      -1.655         0.891          0.564          0              90             0              76
   3  ButterKnife     -3.176         0.903          3.663          0              0              0              40
   4  ButterKnife     -2.804         0.915          4.106          0              0              0              40
   5  Spatula         -1.391         0.906          0.049          0              90             0              76
   6  Spoon           -1.523         0.892          0.255          0              90             0              76
   7  Egg             -1.857         0.824          3.588          0              0              0              70
   8  Knife           -3.185         0.768          1.510          0              270            0              41
   9  Knife           -3.272         0.939          1.357          0              0              0              49
  10  Tomato          -0.440         1.054          4.114          0              180            0              66
  11  Tomato          -0.089         0.791          3.817          0              180            0              66
  12  Bowl            -0.440         1.540          4.102          0              180            0              66
  13  Bowl            -0.994         0.890          0.255          0              90             0              76
  14  SaltShaker      -2.126         0.911          4.146          0              0              0              40
  15  Bread           -3.559         0.997          1.357          0              0              0              49
  16  Apple           -1.666         0.849          3.662          0              0              0              70
  17  Egg             -1.523         0.926          -0.053         0              90             0              76
  18  Knife           -1.787         0.915          0.358          0              180            0              76
  19  Fork            -3.463         0.916          1.524          0              180            0              49
  20  Bread           -0.790         1.067          3.988          0              180            0              66
  21  Potato          -3.368         0.948          1.440          0              0              0              49
  22  Plate           -3.005         0.904          3.677          0              0              0              40
  23  Pot             -3.424         0.966          1.971          0              0              0              48
  24  Kettle          -3.143         0.966          1.971          0              0              0              60
  25  WineBottle      -3.463         0.916          3.663          0              0              0              40
  26  Bowl            -0.089         0.985          4.051          0              180            0              66
  27  Tomato          -0.439         1.054          3.863          0              180            0              66
  28  Cup             -0.790         1.541          4.170          0              180            0              66
  29  Spatula         -2.402         0.930          3.783          0              90             0              40
  30  SoapBottle      -1.787         0.891          0.255          0              90             0              76
  31  Lettuce         -3.176         1.001          1.189          0              0              0              49
  32  Pan             -2.614         0.902          3.620          0              0              0              40
  33  Apple           -1.921         0.849          3.737          0              0              0              70
  34  SaltShaker      -1.259         0.887          0.049          0              90             0              76
  35  PepperShaker    -1.919         0.911          4.273          0              0              0              40
  36  ButterKnife     -1.523         0.891          0.049          0              180            0              76
  37  DishSponge      -3.097         0.744          1.202          0              0              0              41
  38  Spoon           -1.259         0.892          0.358          0              90             0              76
  39  Mug             -1.127         0.886          0.152          0              270            0              76
  40  CounterTop      -3.381         0.950          3.335          0              0              0
  41  Drawer          -3.121         0.775          1.357          0              0              0
  42  Drawer          -3.121         0.777          2.916          0              0              0
  43  StoveBurner     -3.148         0.958          2.374          0              0              0
  44  Sink            -1.797         0.917          3.660          0              0              0
  45  Cabinet         -1.421         0.388          3.459          0              0              0
  46  StoveBurner     -3.424         0.958          2.374          0              0              0
  47  Cabinet         -3.365         1.931          2.676          0              0              0
  48  StoveBurner     -3.424         0.958          1.971          0              0              0
  49  CounterTop      -3.381         0.951          1.356          0              0              0
  50  Drawer          -3.121         0.781          3.295          0              0              0
  51  Cabinet         -2.205         0.388          3.459          0              0              0
  52  Cabinet         -2.963         0.388          3.459          0              0              0
  53  Cabinet         -2.992         0.388          2.683          0              0              0
  54  Cabinet         -3.352         2.205          1.715          0              0              0
  55  Cabinet         -3.352         2.205          2.653          0              0              0
  56  Cabinet         -2.189         0.388          3.466          0              0              0
  57  Cabinet         -3.365         1.931          3.963          0              0              0
  58  Cabinet         -3.365         1.931          1.056          0              0              0
  59  Cabinet         -2.992         0.388          1.037          0              0              0
  60  StoveBurner     -3.143         0.958          1.971          0              0              0
  61  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  62  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  63  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  64  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  65  Toaster         -2.654         0.902          4.064          0              180            0
  66  Fridge          -0.439         0.014          3.996          0              0              0
  67  LightSwitch     0.25           1.383          2.085          0              270            0
  68  Window          -1.430         1.338          -0.347         90             0              0
  69  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  70  SinkBasin       -1.802         0.778          3.700          0              0              0
  71  Microwave       -3.484         1.430          2.182          0              90             0
  72  GarbageCan      -1.184         -0.020         3.794          0              270            0
  73  Blinds          -1.404         2.092          -0.296         0              0              0
  74  Stool           -1.373         0.014          1.048          1.214          20.754         0
  75  Faucet          -1.788         0.903          3.931          270            90             0
  76  DiningTable     -1.399         0.010          0.238          0              0              0
  77  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Walk forward to the toaster on the counter.  | STEP 2: Pick up the knife from the counter.  | STEP 3: Turn around 180 degrees and walk towards the fridge. | STEP 4: Turn 90 degrees to the right and slice the potato on the counter.  | STEP 5: Turn to the right 90 degrees and walk to the microwave. | STEP 6: Open the microwave and place the knife inside.  | STEP 7: Close the microwave and walk back to the potato on the counter.  | STEP 8: Pick up a slice of potato. | STEP 9: Walk back to the microwave.  | STEP 10: Open the microwave, put the potato inside, close the door, cook the potato, open the door, remove the potato, and close the door.  | STEP 11: Turn around 180 degrees and walk to the other side of the room, turning to the left 90 degrees when you reach the trash can and walk towards it. | STEP 12: Put the potato in the trash.  | END