Task: Slice a potato, cool a slice in the fridge

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          3.0            0              0              0
   1  Pan             -1.874         0.911          -1.610         0              270            0              73
   2  Potato          -1.814         0.935          -0.964         0              0              0              73
   3  Potato          -0.175         0.784          -1.546         0              0              0              97
   4  Potato          -1.551         0.935          -0.864         0              0              0              73
   5  CellPhone       -0.638         0.909          -1.707         0              0              0              73
   6  CellPhone       1.710          0.693          0.672          0              0              0              74
   7  Ladle           0.107          0.969          0.738          0              0              0              81
   8  Ladle           1.714          0.626          -0.092         0              270            0              58
   9  Kettle          0.250          0.113          -1.408         0              0              0              52
  10  Kettle          1.975          0.938          0.384          0              180            0              59
  11  DishSponge      1.802          0.911          -1.610         0              0              0              73
  12  ButterKnife     -0.106         0.925          0.041          0              0              0              81
  13  Fork            -0.088         0.760          -1.490         0              90             0              97
  14  Spoon           1.658          0.583          0.125          0              270            0              58
  15  Spoon           1.764          0.581          0.531          0              0              0              77
  16  Egg             -1.697         1.526          0.107          0              90             0              96
  17  Egg             0.214          0.982          0.506          0              0              0              81
  18  Cup             -1.803         1.467          -0.175         0              90             0              96
  19  Knife           -0.844         0.933          -1.610         0              0              0              73
  20  Tomato          -1.721         0.618          -0.175         0              90             0              96
  21  SaltShaker      -0.844         0.907          -1.415         0              0              0              73
  22  SaltShaker      2.073          0.907          1.107          0              0              0              73
  23  Bread           -0.320         1.006          0.738          0              0              0              81
  24  Bread           -0.213         1.006          0.506          0              0              0              81
  25  Lettuce         0.889          0.988          -1.707         0              0              0              73
  26  Lettuce         -1.462         0.988          -1.610         0              0              0              73
  27  Apple           -0.175         0.813          -1.324         0              0              0              97
  28  SoapBottle      1.726          0.915          1.258          0              0              0              73
  29  Cup             -1.290         0.111          -1.550         0              0              0              85
  30  Pot             0.889          0.9            -1.412         0              0              0              73
  31  Fork            1.866          0.117          0.116          0              270            0              56
  32  Ladle           1.658          0.806          1.220          0              270            0              79
  33  Kettle          -1.256         0.912          -1.610         0              0              0              73
  34  Egg             -0.320         0.982          0.970          0              0              0              81
  35  Plate           -0.106         0.924          1.202          0              0              0              81
  36  Pan             -1.286         0.9            -1.348         0              79.769         0              73
  37  Lettuce         -0.002         0.837          -1.490         0              0              0              97
  38  Spatula         1.769          0.135          0.381          0              0              0              65
  39  Apple           1.956          1.059          -0.704         0              270            0              94
  40  Knife           -0.638         0.933          -1.610         0              0              0              73
  41  SaltShaker      -0.213         0.921          0.970          0              0              0              81
  42  PepperShaker    1.962          1.655          -1.053         0              270            0              61
  43  CellPhone       0.214          0.923          -0.190         0              0              0              81
  44  ButterKnife     0.107          0.925          0.970          0              0              0              81
  45  Bread           -1.697         1.756          -0.175         0              90             0              96
  46  Tomato          1.900          0.966          1.258          0              0              0              73
  47  Potato          0.083          0.784          -1.324         0              0              0              97
  48  DishSponge      0.170          0.760          -1.490         0              0              0              97
  49  Spoon           0.000          0.926          0.273          0              0              0              81
  50  Mug             1.355          0.955          -1.362         0              0              0              95
  51  Bowl            -0.744         1.678          -1.652         0              0              0              75
  52  Cabinet         -0.495         0.474          -1.149         0              0              0
  53  Window          -0.010         1.582          -1.821         0              0              0
  54  Drawer          0.805          0.475          -1.159         0              0              0
  55  StoveBurner     1.764          0.902          0.601          0              270            0
  56  Drawer          1.5            0.196          -0.019         0              0              0
  57  Drawer          1.5            0.629          -0.018         0              0              0
  58  Drawer          1.5            0.602          -0.019         0              270            0
  59  StoveBurner     1.975          0.902          0.384          0              270            0
  60  Cabinet         -1.703         2.022          -1.453         0              90             0
  61  Cabinet         1.789          2.019          -0.819         0              270            0
  62  Cabinet         0.494          0.474          -1.149         0              0              0
  63  Cabinet         0.409          0.475          0.444          0              0              0
  64  Drawer          -0.696         0.475          -1.159         0              0              0
  65  Drawer          1.5            0.140          0.599          0              270            0
  66  Cabinet         1.389          0.474          -1.149         0              0              0
  67  Drawer          1.5            0.305          0.600          0              0              0
  68  StoveBurner     1.975          0.902          0.601          0              270            0
  69  Drawer          1.5            0.429          -0.019         0              0              0
  70  StoveBurner     1.764          0.902          0.819          0              270            0
  71  Drawer          1.5            0.519          1.220          0              0              0
  72  Cabinet         1.705          2.019          -1.449         0              0              0
  73  CounterTop      0.002          0.947          -1.513         0              0              0
  74  Drawer          1.5            0.629          0.605          0              0              0
  75  Cabinet         -0.627         2.019          -1.449         0              0              0
  76  StoveBurner     1.764          0.902          0.384          0              270            0
  77  Drawer          1.5            0.538          0.600          0              0              0
  78  Sink            0.0            0.893          -1.434         0              0              0
  79  Drawer          1.5            0.782          1.220          0              270            0
  80  Window          2.217          1.565          -0.384         0              0              0
  81  CounterTop      -0.014         0.961          0.505          0              0              0
  82  Drawer          1.5            0.200          1.220          0              0              0
  83  StoveBurner     1.975          0.902          0.819          0              270            0
  84  Window          -3.240         1.616          2.693          0              270            0
  85  Cabinet         -1.389         0.474          -1.149         0              0              0
  86  LightSwitch     -0.153         1.291          3.700          0              180            0
  87  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  88  StoveKnob       1.602          0.917          0.570          0              270            180
  89  StoveKnob       1.602          0.917          0.625          0              270            180
  90  StoveKnob       1.602          0.917          0.739          0              270            180
  91  StoveKnob       1.602          0.917          0.680          0              270            180
  92  StoveKnob       1.602          0.917          0.462          0              270            180
  93  StoveKnob       1.602          0.917          0.517          0              270            180
  94  Microwave       1.932          0.899          -0.766         0              270            0
  95  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  96  Fridge          -1.764         0.0            0.014          0              90             0
  97  SinkBasin       -0.014         0.736          -1.435         0              0              0
  98  Toaster         1.977          0.900          -0.336         0              270            0
  99  Faucet          -0.020         1.137          -1.605         0              270            0
 100  Chair           -9.354         0.000          1.242          0              180            0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Turn around, go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn right to the counter | STEP 4: SLice the potato on the counter | STEP 5: Turn around, go to the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn around, go to the counter | STEP 8: Pick up a potato slice from the counter | STEP 9: Turn right, go to the fridge | STEP 10: Put the potato slice in the fridge, wait, pick up the potato slice from the fridge | STEP 11: Turn left, go forward, turn left and go to the microwave | STEP 12: Put the potato slice in the microwave | END