Task: Slice a potato, cool a slice and put it in 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          5.75           0              90             0
   1  ButterKnife     0.056          0.771          0.507          0              0              0              47
   2  ButterKnife     -0.312         0.760          6.354          0              0              0              86
   3  Kettle          0.305          0.761          6.354          0              270            0              86
   4  Pot             1.32           0.988          3.848          0              0              0              49
   5  Pot             0.124          0.145          0.353          0              0              0              59
   6  Spoon           0.123          0.761          6.107          0              135            0              86
   7  Spoon           0.257          0.761          6.719          0              225            0              86
   8  Fork            -0.159         0.760          6.169          0              0              0              86
   9  Cup             -0.467         0.756          6.604          0              270            0              86
  10  Plate           1.406          0.141          2.572          0              0              0              62
  11  Plate           0.815          0.144          0.339          0              0              0              56
  12  Knife           1.493          1.022          3.511          0              0              0              50
  13  Tomato          0.028          0.809          6.787          0              0              0              86
  14  PepperShaker    1.585          2.202          4.087          0              0              0              54
  15  Bowl            -0.621         0.143          0.277          0              0              0              58
  16  Bread           1.099          1.048          0.434          0              0              0              50
  17  Egg             0.028          0.810          6.169          0              0              0              86
  18  Knife           0.735          0.802          0.451          0              90             0              42
  19  Fork            1.348          0.772          3.223          0              0              0              43
  20  Apple           1.314          1.067          0.213          0              0              0              50
  21  Kettle          1.593          0.981          3.25           0              255.000        0              50
  22  Plate           1.314          0.993          0.440          0              0              0              50
  23  SaltShaker      1.412          1.572          1.288          0              0              0              60
  24  Lettuce         1.449          0.932          2.050          0              0              0              73
  25  SoapBottle      1.631          1.577          1.227          0              270            0              60
  26  Spatula         -0.278         0.786          0.620          0              270            0              46
  27  PaperTowelRoll  -0.221         0.864          6.787          0              0              0              86
  28  Pot             1.562          0.988          3.848          0              0              0              44
  29  Potato          1.225          1.027          3.137          0              0              0              50
  30  ButterKnife     0.847          0.992          0.578          0              0              0              50
  31  PepperShaker    0.150          0.755          6.479          0              270            0              86
  32  Pan             1.313          0.985          4.284          0              0              0              45
  33  Tomato          2.051          1.565          5.626          0              270            0              72
  34  DishSponge      -0.481         0.771          0.563          0              0              0              46
  35  Cup             1.400          0.137          4.724          0              0              0              52
  36  Spoon           -0.284         0.761          6.478          0              0              0              86
  37  Mug             1.384          1.043          0.847          0              270            0              50
  38  Cabinet         1.307          2.455          4.360          0              0              0
  39  Cabinet         1.054          0.422          1.710          0              0              0
  40  Drawer          1.280          0.808          4.718          0              0              0
  41  Cabinet         1.307          2.455          3.607          0              0              0
  42  Drawer          0.736          0.802          0.521          0              0              0
  43  Drawer          1.276          0.802          3.291          0              0              0
  44  StoveBurner     1.562          0.982          3.848          0              0              0
  45  StoveBurner     1.317          0.982          4.294          0              0              0
  46  Drawer          -0.482         0.802          0.521          0              0              0
  47  Drawer          0.124          0.802          0.521          0              0              0
  48  StoveBurner     1.559          0.982          4.294          0              0              0
  49  StoveBurner     1.320          0.982          3.848          0              0              0
  50  CounterTop      1.391          1.028          0.897          0              0              0
  51  CounterTop      1.391          1.028          4.716          0              0              0
  52  Cabinet         1.054          0.422          4.548          0              0              0
  53  Cabinet         1.317          2.134          0.517          0              0              0
  54  Cabinet         1.317          2.134          4.889          0              0              0
  55  Cabinet         1.317          2.134          3.095          0              0              0
  56  Cabinet         0.443          0.422          0.743          0              0              0
  57  Cabinet         1.270          2.134          0.434          0              0              0
  58  Cabinet         -0.775         0.422          0.743          0              0              0
  59  Cabinet         -0.168         0.422          0.743          0              0              0
  60  Cabinet         1.317          2.134          1.534          0              0              0
  61  Cabinet         1.054          0.422          2.990          0              0              0
  62  Cabinet         1.054          0.422          2.944          0              0              0
  63  Cabinet         -0.263         2.134          0.434          0              0              0
  64  Cabinet         0.252          2.134          0.434          0              0              0
  65  Sink            1.391          1.006          2.326          0              0              0
  66  Microwave       0.108          0.981          0.262          0              0              0
  67  HousePlant      -0.165         0.826          6.444          0              0              0
  68  CoffeeMachine   1.551          0.982          0.953          0              270            0
  69  Toaster         1.473          0.981          4.715          0              270            0
  70  Window          -2.065         1.916          3.626          90             90             0
  71  Window          1.763          2.007          2.299          90             270            0
  72  Fridge          2.035          0.0            5.625          0              0              0
  73  SinkBasin       1.387          0.880          2.338          0              90             0
  74  GarbageCan      2.001          -0.044         6.503          0              0              0
  75  StoveKnob       1.140          0.934          3.987          45             270            0
  76  StoveKnob       1.140          0.934          4.309          45             270            0
  77  StoveKnob       1.140          0.934          4.140          45             270            0
  78  StoveKnob       1.140          0.934          3.824          45             270            0
  79  Vase            -0.226         0.834          6.993          0              0              0
  80  Vase            2.098          0.043          7.070          0              257.232        0
  81  Vase            -0.594         0.835          6.130          0              225            0
  82  LightSwitch     -2.0           1.549          6.045          0              90             0
  83  Safe            2.046          1.072          7.054          0              257.232        0
  84  Faucet          1.534          1.025          2.371          0              294.391        0
  85  Blinds          1.738          2.563          2.312          0              90             0
  86  DiningTable     -0.156         0.000          6.474          0              0              0
  87  Chair           0.291          0.002          6.142          0              310.162        0
  88  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

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