Task: Put a sliced potato wedge on top of a plate into the refrigerator

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          -1.0           0              0              0
   1  Potato          -1.028         0.828          -0.073         0              90             0              98
   2  Potato          2.537          1.068          -0.541         0              0              0              54
   3  Potato          -0.956         0.119          2.811          0              0              0              109
   4  DishSponge      2.450          0.764          4.192          0              270            0              55
   5  WineBottle      2.451          0.765          4.495          0              0              0              55
   6  WineBottle      -0.794         1.028          0.877          0              0              0              57
   7  Glassbottle     1.341          1.781          -1.872         0              0              0              94
   8  Glassbottle     1.409          1.027          -1.987         0              90             0              54
   9  Pot             1.761          1.027          -1.599         0              0              0              97
  10  Spatula         -0.714         0.831          1.103          0              180            0              111
  11  Fork            2.243          0.765          3.657          0              225            0              55
  12  Egg             1.743          1.070          1.802          0              136.999        0              54
  13  Egg             -0.374         1.071          1.540          0              0              0              57
  14  Knife           2.945          0.789          4.254          0              45             0              55
  15  Knife           1.925          0.789          3.969          0              270            0              55
  16  Tomato          -0.418         1.081          1.943          0              0              0              57
  17  SoapBottle      2.537          1.025          -1.151         0              0              0              54
  18  Bowl            2.801          0.762          4.044          0              270            0              55
  19  Bowl            -0.418         1.025          2.311          0              0              0              57
  20  SaltShaker      1.248          0.786          -1.415         0              0              0              54
  21  SaltShaker      1.703          0.796          1.536          0              317.0          0              69
  22  PepperShaker    2.801          0.760          3.747          0              270            0              55
  23  Lettuce         2.426          0.822          3.735          0              225            0              55
  24  Lettuce         -0.782         0.874          1.492          0              90             0              111
  25  Mug             -0.803         1.070          0.646          0              90             0              107
  26  Pan             2.042          1.017          1.779          0              0              0              54
  27  Glassbottle     -0.851         0.817          1.181          0              90             0              111
  28  Knife           2.525          0.789          4.32           0              0              0              55
  29  SoapBottle      1.529          1.025          -1.774         0              90             0              54
  30  Egg             -0.577         0.860          1.181          0              90             0              111
  31  Fork            2.525          0.765          3.795          0              180            0              55
  32  Potato          -0.907         0.376          -0.516         0              90             0              98
  33  Ladle           2.875          1.066          -0.236         0              0              0              54
  34  Tomato          2.649          1.080          1.252          0              136.999        0              54
  35  Pot             2.116          1.027          -1.84          0              270            0              58
  36  WineBottle      -0.451         0.047          1.779          0              0              0              83
  37  Plate           -0.920         1.027          2.556          0              0              0              57
  38  Spatula         2.081          0.816          1.025          0              227.0          0              67
  39  PaperTowelRoll  -0.544         1.131          2.066          0              0              0              57
  40  Lettuce         -0.987         0.844          -0.406         0              90             0              98
  41  Apple           2.276          0.814          3.747          0              270            0              55
  42  SaltShaker      2.331          0.760          4.325          0              329.999        0              55
  43  PepperShaker    2.651          0.797          -0.221         0              0              0              64
  44  ButterKnife     2.599          0.764          4.145          0              0              0              55
  45  Bread           2.726          0.832          3.492          0              329.999        0              55
  46  Cup             -0.577         0.815          1.337          0              90             0              111
  47  DishSponge      2.044          0.801          1.455          0              317.0          0              68
  48  Bowl            1.826          2.278          -1.912         0              0              0              70
  49  Spoon           2.538          0.802          -1.040         0              270            0              54
  50  Mug             2.216          0.759          3.945          0              225            0              55
  51  Sink            -0.716         1.023          1.333          0              0              0
  52  StoveBurner     1.835          1.018          -1.840         0              90             0
  53  StoveBurner     2.177          1.018          -1.599         0              0              0
  54  CounterTop      2.812          0.992          0.675          0              0              0
  55  DiningTable     2.419          0.003          3.930          0              0              0
  56  Drawer          -0.643         0.828          0.616          0              0              0
  57  CounterTop      -0.813         1.062          2.188          0              0              0
  58  StoveBurner     2.115          1.018          -1.840         0              270            0
  59  Drawer          -0.643         0.831          1.953          0              0              0
  60  Drawer          -0.643         0.833          2.418          0              0              0
  61  Drawer          1.347          0.836          -1.539         0              0              0
  62  Drawer          2.693          0.833          -1.131         0              0              0
  63  Drawer          2.693          0.833          -0.699         0              0              0
  64  Drawer          2.693          0.833          -0.267         0              0              0
  65  Drawer          2.693          0.833          0.163          0              0              0
  66  Drawer          2.524          0.833          0.720          0              2.000          0
  67  Drawer          2.232          0.833          1.036          0              2.000          0
  68  Drawer          1.936          0.833          1.354          0              2.000          0
  69  Drawer          1.646          0.833          1.670          0              2.000          0
  70  Cabinet         1.504          2.475          -1.710         0              0              0
  71  Cabinet         -0.823         2.220          1.621          0              0              0
  72  Cabinet         -0.823         2.220          0.615          0              0              0
  73  Cabinet         1.136          0.388          -1.355         0              0              0
  74  Cabinet         -0.356         0.383          2.626          0              0              0
  75  Cabinet         2.745          2.220          -1.690         0              0              0
  76  Cabinet         1.882          0.383          1.017          0              0              0
  77  Cabinet         1.307          0.473          1.640          0              0              0
  78  Cabinet         1.892          0.383          1.006          0              0              0
  79  Cabinet         2.467          0.383          0.383          0              0              0
  80  Cabinet         2.466          0.383          -0.475         0              0              0
  81  Cabinet         2.466          0.473          0.371          0              0              0
  82  Cabinet         2.386          2.475          -1.710         0              0              0
  83  Cabinet         -0.356         0.383          1.712          0              0              0
  84  Cabinet         2.745          2.220          0.019          0              0              0
  85  Cabinet         -0.663         2.496          0.157          0              0              0
  86  Cabinet         -0.663         2.496          -0.868         0              0              0
  87  Cabinet         -0.356         0.383          0.269          0              0              0
  88  Cabinet         -0.823         2.220          1.603          0              0              0
  89  Cabinet         -0.662         2.234          0.586          0              0              0
  90  Cabinet         2.745          2.220          -0.843         0              0              0
  91  Cabinet         2.745          2.220          -0.827         0              0              0
  92  Cabinet         -0.823         2.220          2.608          0              0              0
  93  Cabinet         2.732          2.226          -1.709         0              0              0
  94  Cabinet         1.137          2.226          -1.709         0              0              0
  95  Cabinet         2.466          0.383          -0.491         0              0              0
  96  Cabinet         2.466          0.383          -1.339         0              0              0
  97  StoveBurner     1.761          1.018          -1.599         0              0              0
  98  Fridge          -0.908         0.0            -0.405         0              0              0
  99  HousePlant      2.517          1.016          1.822          0              0              0
 100  Microwave       1.939          1.745          -1.826         0              0              0
 101  StoveKnob       2.017          1.041          -1.514         0              180            180
 102  StoveKnob       1.934          1.041          -1.514         0              180            180
 103  StoveKnob       2.017          1.041          -1.589         0              180            180
 104  StoveKnob       1.934          1.041          -1.589         0              180            180
 105  Window          1.756          1.608          4.762          90             0              0
 106  HousePlant      2.171          1.004          2.091          0              0              0
 107  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 108  LightSwitch     -0.099         1.410          -2.066         0              0              0
 109  GarbageCan      -0.951         -0.029         2.826          0              0              0
 110  Toaster         -1.007         1.018          2.238          0              90             0
 111  SinkBasin       -0.714         0.805          1.348          0              90             0
 112  Chair           1.615          0.004          4.310          0              107.976        0
 113  Faucet          -1.120         1.013          1.334          0              90             0
 114  Chair           2.759          0.004          3.086          0              358.967        0
 115
 116  NorthWall
 117  EastWall
 118  SouthWall
 119  WestWall

Plan:
STEP 1: Turn left, move forward slightly, then turn right and head towards the wall, then turn right and move forward between the white table and the counter, then turn left and face the white table | STEP 2: pick up the yellow-handled knife from the back-right of the table | STEP 3: turn left and move forward a bit, then turn left and head to the end of the kitchen, then turn right and face the refrigerator  | STEP 4: open the refrigerator and slice the potato to the right of the green cabbage into several pieces, then close the refrigerator | STEP 5: turn right and move towards the wall, then turn left  and move forward slightly, then turn left and face the trash can that's sitting below the end of the counter with the plate on it | STEP 6: Put the knife on the plate that's sitting on the counter | STEP 7: turn left, move forward slightly, then turn right and move towards the door at the end, then turn right and face the refrigerator | STEP 8: open the refrigerator, take out a slice of the cut potato, then close the refrigerator | STEP 9: turn right and move towards the wall, then turn left and move forward slightly, then turn left and face the plate and knife that are resting on the counter | STEP 10: put the potato slice on the plate | STEP 11: pick up the plate with the knife and potato slice on top of it | STEP 12: turn left, move forward slightly, then turn right and head to the white door, then turn right and face the refrigerator | STEP 13: open the refrigerator and put the plate, potato slice, and knife into the refrigerator, then close the refrigerator | END