Task: pick up knife, cut potato, put potato in fridge, remove from fridge, place in the microwave

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          -0.5           0              0              0
   1  Potato          -0.175         0.784          -1.546         0              0              0              92
   2  Potato          -1.462         0.935          -1.707         0              0              0              68
   3  CellPhone       0.107          0.923          0.273          0              0              0              76
   4  CellPhone       1.603          0.581          0.125          0              270            0              53
   5  Ladle           -1.551         0.955          -1.063         0              0              0              68
   6  Kettle          1.975          0.938          0.819          0              180            0              78
   7  DishSponge      0.661          0.911          -1.221         0              0              0              68
   8  DishSponge      -0.175         0.760          -1.435         0              0              0              92
   9  Spoon           1.713          0.581          0.736          0              0              0              72
  10  Spoon           1.815          0.118          -0.157         0              0              0              51
  11  Egg             0.000          0.982          0.738          0              0              0              76
  12  Cup             0.083          0.758          -1.490         0              0              0              92
  13  Cup             2.020          1.004          -0.808         0              270            0              89
  14  Plate           -0.106         0.924          0.970          0              0              0              76
  15  Knife           1.658          0.143          0.527          0              180            0              60
  16  SoapBottle      -0.320         0.929          0.506          0              0              0              76
  17  Tomato          -1.796         0.096          1.329          0              270            0              82
  18  Tomato          -1.645         1.524          0.107          0              90             0              91
  19  Bowl            -1.750         1.675          0.201          0              90             0              91
  20  Mug             1.355          0.955          -1.362         0              0              0              90
  21  Mug             -1.645         1.464          -0.175         0              90             0              91
  22  Apple           -0.088         0.813          -1.324         0              0              0              92
  23  SoapBottle      -0.361         0.118          -1.472         0              0              0              47
  24  Cup             -1.692         0.561          0.201          0              90             0              91
  25  Pot             0.889          0.9            -1.412         0              0              0              68
  26  Fork            1.713          0.459          0.599          0              0              0              72
  27  Ladle           1.962          1.703          -1.129         0              270            0              56
  28  Kettle          1.765          0.938          0.384          0              180            0              71
  29  Egg             1.924          1.063          -0.651         0              270            0              89
  30  Plate           0.214          0.924          0.506          0              0              0              76
  31  Pan             0.000          0.925          -0.190         0              90             0              76
  32  Lettuce         -1.710         0.883          -0.137         0              304.909        0              91
  33  Spatula         0.214          0.940          0.273          0              270            0              76
  34  Apple           -1.551         0.964          -0.864         0              0              0              68
  35  Knife           1.802          0.933          -1.318         0              0              0              68
  36  SaltShaker      -1.874         0.907          -1.513         0              0              0              68
  37  PepperShaker    0.321          0.921          0.970          0              0              0              76
  38  CellPhone       1.769          0.119          0.745          0              270            0              60
  39  ButterKnife     -0.638         0.911          -1.513         0              0              0              68
  40  Bread           0.107          1.006          1.202          0              0              0              76
  41  Tomato          -1.663         0.618          0.013          0              90             0              91
  42  Potato          2.073          0.935          1.182          0              0              0              68
  43  DishSponge      1.824          0.582          -0.092         0              270            0              53
  44  Spoon           0.595          0.672          -1.332         0              90             0              49
  45  Mug             -1.803         1.464          0.107          0              90             0              91
  46  Bowl            -1.841         1.660          -1.056         0              90             0              55
  47  Cabinet         -0.495         0.474          -1.149         0              0              0
  48  Window          -0.010         1.582          -1.821         0              0              0
  49  Drawer          0.805          0.475          -1.159         0              0              0
  50  StoveBurner     1.764          0.902          0.601          0              270            0
  51  Drawer          1.5            0.196          -0.019         0              0              0
  52  Drawer          1.5            0.629          -0.018         0              0              0
  53  Drawer          1.5            0.602          -0.019         0              270            0
  54  StoveBurner     1.975          0.902          0.384          0              270            0
  55  Cabinet         -1.703         2.022          -1.453         0              90             0
  56  Cabinet         1.789          2.019          -0.819         0              270            0
  57  Cabinet         0.494          0.474          -1.149         0              0              0
  58  Cabinet         0.409          0.475          0.444          0              0              0
  59  Drawer          -0.696         0.475          -1.159         0              0              0
  60  Drawer          1.5            0.140          0.599          0              270            0
  61  Cabinet         1.389          0.474          -1.149         0              0              0
  62  Drawer          1.5            0.305          0.600          0              0              0
  63  StoveBurner     1.975          0.902          0.601          0              270            0
  64  Drawer          1.5            0.429          -0.019         0              0              0
  65  StoveBurner     1.764          0.902          0.819          0              270            0
  66  Drawer          1.5            0.519          1.220          0              0              0
  67  Cabinet         1.705          2.019          -1.449         0              0              0
  68  CounterTop      0.002          0.947          -1.513         0              0              0
  69  Drawer          1.5            0.629          0.605          0              0              0
  70  Cabinet         -0.627         2.019          -1.449         0              0              0
  71  StoveBurner     1.764          0.902          0.384          0              270            0
  72  Drawer          1.5            0.538          0.600          0              0              0
  73  Sink            0.0            0.893          -1.434         0              0              0
  74  Drawer          1.5            0.782          1.220          0              270            0
  75  Window          2.217          1.565          -0.384         0              0              0
  76  CounterTop      -0.014         0.961          0.505          0              0              0
  77  Drawer          1.5            0.200          1.220          0              0              0
  78  StoveBurner     1.975          0.902          0.819          0              270            0
  79  Window          -3.240         1.616          2.693          0              270            0
  80  Cabinet         -1.389         0.474          -1.149         0              0              0
  81  LightSwitch     -0.153         1.291          3.700          0              180            0
  82  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  83  StoveKnob       1.602          0.917          0.570          0              270            180
  84  StoveKnob       1.602          0.917          0.625          0              270            180
  85  StoveKnob       1.602          0.917          0.739          0              270            180
  86  StoveKnob       1.602          0.917          0.680          0              270            180
  87  StoveKnob       1.602          0.917          0.462          0              270            180
  88  StoveKnob       1.602          0.917          0.517          0              270            180
  89  Microwave       1.932          0.899          -0.766         0              270            0
  90  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  91  Fridge          -1.764         0.0            0.014          0              90             0
  92  SinkBasin       -0.014         0.736          -1.435         0              0              0
  93  Toaster         1.977          0.900          -0.336         0              270            0
  94  Faucet          -0.020         1.137          -1.605         0              270            0
  95  Chair           -9.354         0.000          1.242          0              180            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: turn around, turn left to the sink | STEP 2: pick up knife from the counter | STEP 3: turn around, walk straight, turn left to the sink | STEP 4: cut potato in the sink | STEP 5: turn left, turn right to the sink | STEP 6: place knife in the sink | STEP 7: turn right, turn left to the sink | STEP 8: pick up potato from the sink | STEP 9: turn right, turn right, turn left to the fridge | STEP 10: open door, place potato on the shelf, close door, open door, take potato out, close door | STEP 11: turn left, turn left, walk straight to the microwave | STEP 12: open door, put potato on the shelf, close door | END