Task: Put a potato in a pan and slice it

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            0.901          0.5            0              180            0
   1  Pan             0.566          0.081          2.523          0              270            0              57
   2  Potato          -0.395         1.075          1.907          0              90             0              75
   3  Potato          2.127          1.559          -0.007         0              270            0              71
   4  WineBottle      1.840          0.939          0.657          0              0              0              61
   5  WineBottle      2.280          1.504          0.755          0              0              0              58
   6  Spatula         0.682          0.810          2.584          0              90             0              74
   7  Fork            -0.138         0.747          1.925          0              90             0              49
   8  Fork            0.174          0.938          2.827          0              0              0              50
   9  Egg             2.283          1.561          -0.097         0              270            0              71
  10  Egg             2.024          1.561          -0.278         0              270            0              71
  11  Cup             1.223          0.793          2.584          0              0              0              74
  12  Tomato          2.000          1.369          -0.369         0              270            0              71
  13  Tomato          1.986          0.384          -0.007         0              270            0              71
  14  SaltShaker      2.150          0.932          2.260          0              0              0              50
  15  SaltShaker      1.298          0.076          2.523          0              0              0              56
  16  PepperShaker    1.905          1.498          2.881          0              0              0              51
  17  Lettuce         2.122          0.664          -0.278         0              270            0              71
  18  Apple           -0.390         0.087          -0.832         0              90             0              72
  19  Egg             1.840          0.980          0.509          0              0              0              61
  20  Lettuce         2.168          1.385          -0.097         0              270            0              71
  21  Fork            1.639          0.928          2.598          0              0              0              50
  22  SoapBottle      -0.425         0.791          0.377          0              0              0              77
  23  Ladle           1.925          0.126          1.915          0              90             0              46
  24  Ladle           1.872          0.790          0.721          0              270            0              59
  25  Bread           -0.199         0.824          0.814          0              0              0              77
  26  SaltShaker      2.244          1.496          1.916          0              0              0              53
  27  Potato          2.096          0.378          -0.369         0              270            0              71
  28  Pan             2.140          0.935          1.504          0              180            0              45
  29  WineBottle      -0.078         0.082          1.993          0              0              0              44
  30  Spatula         1.919          0.760          1.922          0              90             0              65
  31  Knife           0.033          0.816          1.217          0              90             0              77
  32  Tomato          2.112          1.367          -0.550         0              270            0              71
  33  Apple           -0.395         1.085          2.068          0              90             0              75
  34  ButterKnife     -0.119         0.791          1.386          0              0              0              77
  35  Pot             1.854          0.937          1.497          0              0              0              54
  36  PepperShaker    1.840          0.933          0.806          0              270            0              61
  37  Cup             2.168          1.319          -0.278         0              270            0              71
  38  DishSponge      -0.042         0.790          1.217          0              0              0              77
  39  Plate           1.923          0.086          0.653          0              0              0              47
  40  Spoon           -0.042         0.781          0.881          0              0              0              77
  41  Mug             2.064          0.989          2.462          0              225            0              76
  42  Bowl            2.243          1.945          1.515          0              0              0              55
  43  Cabinet         2.041          2.113          2.618          0              0              0
  44  Cabinet         0.126          0.388          1.774          0              0              0
  45  StoveBurner     2.140          0.929          1.504          0              180            0
  46  Cabinet         1.760          0.388          2.346          0              0              0
  47  Cabinet         1.760          0.388          0.869          0              0              0
  48  Cabinet         2.041          1.810          0.283          0              0              0
  49  Drawer          -0.024         0.774          2.061          0              0              0
  50  CounterTop      1.065          0.973          2.666          0              0              0
  51  Cabinet         1.969          2.113          2.618          0              0              0
  52  StoveBurner     2.140          0.929          1.106          0              0              0
  53  Cabinet         2.041          2.113          1.809          0              0              0
  54  StoveBurner     1.866          0.929          1.504          0              180            0
  55  Cabinet         2.041          2.113          1.766          0              0              0
  56  Cabinet         1.514          0.388          2.360          0              0              0
  57  Cabinet         0.351          0.388          2.360          0              0              0
  58  Cabinet         2.041          1.810          0.872          0              0              0
  59  Drawer          2.167          0.774          0.582          0              0              0
  60  Cabinet         2.041          2.113          0.892          0              0              0
  61  CounterTop      2.060          0.973          0.583          0              0              0
  62  Sink            0.935          0.936          2.646          0              0              0
  63  Curtains        0.964          2.061          2.989          0              0              0
  64  StoveBurner     1.863          0.929          1.106          0              0              0
  65  Drawer          1.911          0.774          2.060          0              0              0
  66  StoveKnob       2.326          1.092          1.610          288.013        90             0
  67  StoveKnob       2.326          1.092          1.460          288.013        90             0
  68  StoveKnob       2.326          1.092          1.210          288.013        90             0
  69  StoveKnob       2.326          1.092          1.050          288.013        90             0
  70  Toaster         2.126          0.926          0.572          0              270            0
  71  Fridge          2.104          0.0            -0.279         0              270            0
  72  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  73  LightSwitch     0.354          1.518          -1.031         0              0              0
  74  SinkBasin       0.903          0.784          2.640          0              0              0
  75  Microwave       -0.310         0.926          2.077          0              90             0
  76  CoffeeMachine   2.084          0.927          2.667          0              225            0
  77  DiningTable     -0.153         -0.000         1.073          0              270            0
  78  Faucet          1.175          0.926          2.950          270            90             0
  79  Faucet          0.686          0.926          2.950          270            90             0
  80  Chair           -0.077         0.002          0.196          0              15.000         0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn around, go forward, turn right at the stove | STEP 2: Pick up the pan on the stove | STEP 3: Turn right, go forward, turn right at the table | STEP 4: Put the pan on the table | STEP 5: Turn right, go forward, turn left at the microwave | STEP 6: Open the microwave, pick up the potato in the microwave, close the microwave | STEP 7: Turn left, go forward, turn right at the table | STEP 8: Put the potato in the pan | STEP 9: Turn right, go forward, turn left at the end of the table | STEP 10: Pick up the knife on the table | STEP 11: Turn left, go forward, turn right at the table | STEP 12: Slice the potato in the pan | END