Task: Slice a potato, refrigerate the slice, place it in the microwave

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          2.5            0              180            0
   1  Pan             1.802          0.911          -1.318         0              0              0              65
   2  Potato          -1.990         0.935          -1.063         0              0              0              65
   3  Potato          0.661          0.935          -1.707         0              0              0              65
   4  Ladle           1.658          0.807          1.365          0              270            0              71
   5  Kettle          -0.305         0.115          -1.347         0              0              0              44
   6  ButterKnife     -1.874         0.911          -1.610         0              0              0              65
   7  Spoon           0.083          0.761          -1.380         0              0              0              89
   8  Pot             1.975          0.938          0.384          0              180            0              51
   9  Egg             -0.175         0.817          -1.380         0              0              0              89
  10  Cup             2.020          1.004          -0.808         0              270            0              86
  11  Cup             1.726          0.909          1.032          0              0              0              65
  12  Plate           1.962          1.658          -1.280         0              270            0              53
  13  Knife           1.574          0.933          -1.221         0              0              0              65
  14  SoapBottle      -0.844         0.915          -1.513         0              0              0              65
  15  Bowl            1.587          1.678          -1.577         0              0              0              64
  16  SaltShaker      0.107          0.921          0.041          0              0              0              73
  17  PepperShaker    0.107          0.921          0.506          0              0              0              73
  18  Bread           -0.320         1.006          0.970          0              0              0              73
  19  Bread           -1.463         0.992          -0.964         0              0              0              65
  20  SoapBottle      -0.106         0.929          -0.190         0              0              0              73
  21  Cup             -1.803         1.467          0.295          0              90             0              88
  22  Pot             -0.867         1.683          -1.614         0              0              0              67
  23  Fork            1.714          0.583          -0.092         0              270            0              50
  24  Ladle           1.662          0.589          1.219          0              0              0              63
  25  Kettle          1.681          0.9            0.091          0              0              0              65
  26  Egg             -1.753         1.086          -0.269         0              90             0              88
  27  Plate           -0.106         0.924          0.273          0              0              0              73
  28  Pan             0.107          0.925          1.202          0              0              0              73
  29  Lettuce         -1.710         0.883          -0.137         0              304.909        0              88
  30  Spatula         -1.814         0.926          -0.864         0              270            0              65
  31  Apple           -1.803         1.522          0.013          0              90             0              88
  32  Knife           1.769          0.784          1.074          0              0              0              71
  33  SaltShaker      1.095          1.675          -1.690         0              0              0              64
  34  PepperShaker    1.862          0.221          1.022          0              0              0              74
  35  CellPhone       -0.638         0.909          -1.221         0              0              0              65
  36  ButterKnife     0.000          0.925          0.506          0              0              0              73
  37  Bread           0.214          1.006          0.738          0              0              0              73
  38  Tomato          0.168          0.974          -0.281         0              353.362        0              73
  39  Potato          -0.088         0.784          -1.490         0              0              0              89
  40  DishSponge      -1.290         0.113          -1.296         0              0              0              77
  41  Spoon           1.815          0.227          0.599          0              0              0              59
  42  Mug             2.020          1.001          -0.547         0              0              0              86
  43  Bowl            0.170          0.759          -1.435         0              0              0              89
  44  Cabinet         -0.495         0.474          -1.149         0              0              0
  45  Window          -0.010         1.582          -1.821         0              0              0
  46  Drawer          0.805          0.475          -1.159         0              0              0
  47  StoveBurner     1.764          0.902          0.601          0              270            0
  48  Drawer          1.5            0.196          -0.019         0              0              0
  49  Drawer          1.5            0.629          -0.018         0              0              0
  50  Drawer          1.5            0.602          -0.019         0              270            0
  51  StoveBurner     1.975          0.902          0.384          0              270            0
  52  Cabinet         -1.703         2.022          -1.453         0              90             0
  53  Cabinet         1.789          2.019          -0.819         0              270            0
  54  Cabinet         0.494          0.474          -1.149         0              0              0
  55  Cabinet         0.409          0.475          0.444          0              0              0
  56  Drawer          -0.696         0.475          -1.159         0              0              0
  57  Drawer          1.5            0.140          0.599          0              270            0
  58  Cabinet         1.389          0.474          -1.149         0              0              0
  59  Drawer          1.5            0.305          0.600          0              0              0
  60  StoveBurner     1.975          0.902          0.601          0              270            0
  61  Drawer          1.5            0.429          -0.019         0              0              0
  62  StoveBurner     1.764          0.902          0.819          0              270            0
  63  Drawer          1.5            0.519          1.220          0              0              0
  64  Cabinet         1.705          2.019          -1.449         0              0              0
  65  CounterTop      0.002          0.947          -1.513         0              0              0
  66  Drawer          1.5            0.629          0.605          0              0              0
  67  Cabinet         -0.627         2.019          -1.449         0              0              0
  68  StoveBurner     1.764          0.902          0.384          0              270            0
  69  Drawer          1.5            0.538          0.600          0              0              0
  70  Sink            0.0            0.893          -1.434         0              0              0
  71  Drawer          1.5            0.782          1.220          0              270            0
  72  Window          2.217          1.565          -0.384         0              0              0
  73  CounterTop      -0.014         0.961          0.505          0              0              0
  74  Drawer          1.5            0.200          1.220          0              0              0
  75  StoveBurner     1.975          0.902          0.819          0              270            0
  76  Window          -3.240         1.616          2.693          0              270            0
  77  Cabinet         -1.389         0.474          -1.149         0              0              0
  78  LightSwitch     -0.153         1.291          3.700          0              180            0
  79  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  80  StoveKnob       1.602          0.917          0.570          0              270            180
  81  StoveKnob       1.602          0.917          0.625          0              270            180
  82  StoveKnob       1.602          0.917          0.739          0              270            180
  83  StoveKnob       1.602          0.917          0.680          0              270            180
  84  StoveKnob       1.602          0.917          0.462          0              270            180
  85  StoveKnob       1.602          0.917          0.517          0              270            180
  86  Microwave       1.932          0.899          -0.766         0              270            0
  87  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  88  Fridge          -1.764         0.0            0.014          0              90             0
  89  SinkBasin       -0.014         0.736          -1.435         0              0              0
  90  Toaster         1.977          0.900          -0.336         0              270            0
  91  Faucet          -0.020         1.137          -1.605         0              270            0
  92  Chair           -9.354         0.000          1.242          0              180            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Walk toward the  table, hang a left to the wall, turn right and walk to the microwave oven at the far end of the counter on your left. | STEP 2: Pick up the knife to the right front of the microwave. | STEP 3: Turn around an walk to the sink. | STEP 4: Slice the potato in the sink. | STEP 5: Look inside the sink toward the  front. | STEP 6: Place the knife inside the front of the sink. | STEP 7: Look at the sliced potato. | STEP 8: Pick up a slice from the potato. | STEP 9: Turn to your right and walk to the fridge. | STEP 10: Open the fridge, place the potato slice on the top shelf to the right of the head of lettuce, close  the door; after cooling, open the door, pick up the potato slice, close the door. | STEP 11: Turn to your left and walk toward the counter with the sink, hang a left to the microwave oven. | STEP 12: Open the microwave door, place the potato slice on the gray plate in the microwave, close the door. | END