Task: Slice a potato, refrigerate it, place it on the brown table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.869          -1.0           0              90             0
   1  Potato          0.781          0.698          0.387          0              0              0              46
   2  Potato          0.661          0.697          0.630          0              0              0              46
   3  ButterKnife     -0.051         0.900          1.101          0              0              0              67
   4  Spatula         0.623          0.774          -0.061         0              180            0              40
   5  Spoon           0.720          0.760          -0.252         0              0              0              40
   6  Spoon           0.781          0.665          0.569          0              0              0              46
   7  Knife           -1.803         0.724          -0.875         0              180            0              77
   8  Tomato          0.841          0.820          -0.570         0              270            0              64
   9  Tomato          0.799          0.820          -0.735         0              270            0              64
  10  SoapBottle      -0.252         0.899          1.187          0              270            0              67
  11  SoapBottle      0.901          0.664          0.326          0              0              0              46
  12  Bowl            0.746          0.464          -2.035         0              270            0              61
  13  PepperShaker    0.842          0.012          -0.768         0              0              0              44
  14  SaltShaker      0.812          1.460          0.226          0              0              0              53
  15  SaltShaker      0.950          0.879          -0.245         0              0              0              41
  16  Bread           -1.719         0.745          -1.307         0              0              0              77
  17  Mug             0.877          0.878          -0.108         0              180            0              41
  18  Apple           0.661          0.718          0.508          0              0              0              46
  19  Pot             -1.555         0.930          1.049          0              0              0              50
  20  Plate           0.732          0.019          -0.053         0              0              0              51
  21  Fork            -1.970         0.702          -1.524         0              0              0              77
  22  SoapBottle      -1.261         0.051          -3.574         0              270            0              56
  23  Apple           0.661          0.718          0.326          0              0              0              46
  24  Pan             0.746          1.157          -1.802         0              0              0              61
  25  Egg             0.901          0.702          0.448          0              0              0              46
  26  Spatula         -0.051         0.915          1.272          0              270            0              67
  27  Potato          -0.252         0.933          0.929          0              270            0              67
  28  Cup             0.746          0.663          -1.958         0              270            0              61
  29  SaltShaker      0.781          0.661          0.265          0              0              0              46
  30  PepperShaker    0.842          0.012          -0.898         0              0              0              44
  31  ButterKnife     0.803          0.883          0.098          0              0              0              41
  32  DishSponge      0.623          0.759          -0.188         0              0              0              40
  33  Bread           0.149          0.944          0.929          0              270            0              67
  34  Lettuce         0.746          1.461          -1.802         0              270            0              61
  35  Tomato          -2.054         0.750          -1.199         0              0              0              77
  36  Spoon           0.729          0.884          -0.245         0              180            0              41
  37  Knife           0.961          0.688          0.387          0              90             0              46
  38  Mug             0.901          0.659          0.569          0              0              0              46
  39  Bowl            -2.038         0.691          -1.003         0              0              0              77
  40  Drawer          0.706          0.766          -0.125         0              0              0
  41  CounterTop      0.792          0.919          -0.108         0              0              0
  42  Mirror          1.093          1.602          -0.643         0              0              0
  43  StoveBurner     -2.096         0.890          0.785          0              0              0
  44  Cabinet         0.507          0.345          -0.426         0              0              0
  45  StoveBurner     -1.552         0.890          0.785          0              0              0
  46  SideTable       0.770          -0.030         0.443          0              0              0
  47  Sink            0.753          0.882          -0.680         0              0              0
  48  StoveBurner     -2.096         0.890          1.049          0              0              0
  49  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  50  StoveBurner     -1.554         0.890          1.049          0              0              0
  51  Cabinet         0.507          0.345          0.156          0              0              0
  52  Cabinet         0.717          1.822          -0.398         0              0              0
  53  Cabinet         0.717          1.822          0.669          0              0              0
  54  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  55  Toaster         -0.522         0.886          1.081          0              180            0
  56  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  57  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  59  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  61  Fridge          0.680          -0.031         -1.957         0              0              0
  62  Window          -2.424         1.639          -2.453         90             270            0
  63  Microwave       -1.994         0.690          -3.651         0              0              0
  64  SinkBasin       0.757          0.762          -0.688         0              270            0
  65  LightSwitch     1.102          1.368          -3.737         0              270            0
  66  Shelf           -0.350         0.124          0.857          0              0              0
  67  DiningTable     -0.350         -0.025         0.857          0              0              0
  68  DiningTable     -1.909         -0.032         -3.507         0              0              0
  69  Blinds          -2.343         2.151          -2.437         0              270            0
  70  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  71  AluminumFoil    0.751          0.225          0.287          0              0              0
  72  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  73  Shelf           0.771          0.226          0.445          0              0              0
  74  Shelf           0.771          0.456          0.446          0              0              0
  75  Faucet          1.025          0.873          -0.678         270            180            0
  76  Shelf           -0.350         0.497          0.857          0              0              0
  77  DiningTable     -1.929         -0.035         -1.398         0              90             0
  78  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: While facing the sink, turn to your left and walk towards the direction of the white table, hang a right at the small brown table. | STEP 2: Pick up the yellow-handled knife from the back of the brown table. | STEP 3: Slice the potato on the front left corner of the table. | STEP 4: Drop the left end slice of the potato onto the garbage bag to the left of the brown table, turn the left-most apple on its side, turn around and walk to the fridge. | STEP 5: Open the fridge and freezer doors, place the knife on the top rack of the fridge with the yellow handle towards the middle of the rack | STEP 6: Close the fridge and freezer doors, turn to your left and walk in the direction of the white table, hang a right at the small brown table. | STEP 7: Pick up the right end slice of the potato. | STEP 8: Turn around and walk to the fridge, open the fridge and freezer door. | STEP 9: Place the potato slice at the handle end of the yellow-handled knife, close the fridge and freezer door; after cooling, open the fridge and freezer door and pick up the potato slice, close the door. | STEP 10: Turn to your left and walk in the direction of the white table, hang a right to the small brown table. | STEP 11: Place the chilled potato slice between and to the front of the two apples on the brown table. | END