Task: Slice a potato, cool a slice, an throw it into the 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          -0.25          0              0              0
   1  Pan             -2.59          0.9            -1.147         0              0              0              72
   2  Potato          -0.598         0.933          -1.119         0              47.530         0              72
   3  ButterKnife     0.765          0.911          -1.032         0              0              0              72
   4  Kettle          -2.622         0.928          -0.711         0              0              0              63
   5  Pot             0.644          1.112          1.229          0              315            0              65
   6  Spoon           -2.671         0.747          -0.027         0              90             0              70
   7  Spoon           0.240          1.100          1.172          0              315            0              65
   8  Fork            -2.843         0.911          -1.032         0              0              0              72
   9  Fork            -2.604         0.911          -0.062         0              0              0              64
  10  Spatula         -1.418         0.866          -1.139         0              270            0              82
  11  Plate           0.963          1.664          -1.322         0              0              0              50
  12  Egg             -2.757         0.071          1.571          0              0              0              83
  13  Knife           -2.604         0.934          0.275          0              180            0              64
  14  SoapBottle      -1.115         0.118          -1.031         0              0              0              45
  15  Lettuce         0.133          1.190          1.737          0              315            0              65
  16  Lettuce         0.765          0.990          -1.282         0              0              0              72
  17  SaltShaker      -2.810         1.661          0.166          0              0              0              58
  18  SaltShaker      -2.445         1.658          -1.284         0              0              0              55
  19  Bread           -2.740         1.528          0.771          0              90             0              84
  20  Bread           0.997          0.965          -1.115         0              0              0              72
  21  Apple           -2.920         0.871          0.932          0              90             0              84
  22  Apple           -2.920         1.525          1.013          0              90             0              84
  23  Fork            -0.116         1.112          1.838          0              315            0              65
  24  Kettle          -0.168         1.112          1.435          0              315            0              65
  25  CreditCard      0.997          0.9            -0.982         0              334.941        0              72
  26  Bread           -0.401         0.948          -1.291         0              0              0              72
  27  Plate           0.284          1.113          1.888          0              315            0              65
  28  SoapBottle      -2.757         0.037          1.431          0              0              0              83
  29  Spatula         -1.073         0.864          -1.305         0              90             0              82
  30  Lettuce         -2.740         1.752          0.771          0              90             0              84
  31  SaltShaker      -1.709         1.658          -1.397         0              0              0              46
  32  Tomato          0.206          1.152          1.054          0              0              0              65
  33  PepperShaker    -2.830         0.9            -0.112         0              0              0              64
  34  ButterKnife     -1.505         0.851          -1.194         0              0              0              82
  35  Pot             -2.823         0.928          -0.396         0              0              0              71
  36  DishSponge      -1.221         0.841          -1.126         0              41.164         0              82
  37  Egg             0.346          1.040          -1.281         0              0              0              85
  38  Spoon           -1.987         0.748          -1.008         0              0              0              67
  39  Knife           -2.438         0.934          0.106          0              90             0              64
  40  Cup             -1.119         0.841          -1.241         0              0              0              82
  41  Mug             0.372          1.654          -1.353         0              0              0              51
  42  Bowl            -2.046         0.9            -1.163         0              0              0              72
  43  Cabinet         -2.647         2.075          -0.875         0              0              0
  44  Cabinet         -2.647         2.075          -0.234         0              0              0
  45  Cabinet         -0.824         0.469          -0.907         0              0              0
  46  Cabinet         -1.764         2.009          -1.197         0              0              0
  47  Cabinet         -1.834         2.009          -1.197         0              0              0
  48  Cabinet         -1.850         0.389          -0.897         0              0              0
  49  Cabinet         -1.801         0.469          -0.907         0              0              0
  50  Cabinet         1.115          2.009          -1.197         0              0              0
  51  Cabinet         0.235          2.009          -1.197         0              0              0
  52  Cabinet         1.125          0.470          -0.897         0              0              0
  53  Cabinet         -2.387         0.389          0.375          0              0              0
  54  Cabinet         0.484          0.389          -0.897         0              0              0
  55  Cabinet         -2.625         2.009          -1.197         0              0              0
  56  Cabinet         -2.647         2.009          -0.945         0              0              0
  57  Cabinet         -2.647         2.200          1.664          0              0              0
  58  Cabinet         -2.647         2.009          0.364          0              0              0
  59  Cabinet         0.164          2.009          -1.197         0              0              0
  60  Cabinet         -0.765         2.009          -1.197         0              0              0
  61  Cabinet         -0.834         2.009          -1.197         0              0              0
  62  Cabinet         -2.647         2.200          0.434          0              0              0
  63  StoveBurner     -2.622         0.886          -0.711         0              0              0
  64  CounterTop      -2.699         0.946          0.106          0              0              0
  65  CounterTop      0.908          1.147          0.788          0              315            0
  66  StoveBurner     -2.622         0.886          -0.396         0              0              0
  67  Drawer          -2.026         0.779          -1.082         0              0              0
  68  Sink            -1.328         0.916          -1.225         0              0              0
  69  StoveBurner     -2.822         0.886          -0.711         0              0              0
  70  Drawer          -2.572         0.779          0.099          0              0              0
  71  StoveBurner     -2.822         0.886          -0.396         0              0              0
  72  CounterTop      0.071          0.946          -1.199         0              0              0
  73  Drawer          0.254          0.779          -1.082         0              0              0
  74  LightSwitch     -1.167         1.307          3.0            0              180            0
  75  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  76  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  78  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  79  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  80  Window          0.321          1.449          3.088          90             0              0
  81  Toaster         -2.823         0.899          0.246          0              90             0
  82  SinkBasin       -1.344         0.838          -1.25          0              0              0
  83  GarbageCan      -2.757         1.886          1.466          0              0              0
  84  Fridge          -2.855         0.0            0.851          0              0              0
  85  Microwave       0.283          0.900          -1.331         0              0              0
  86  Stool           1.541          0.010          1.328          0              45             0
  87  Stool           0.983          0.010          1.793          0              47.459         0
  88  Faucet          -1.392         1.136          -1.399         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

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