Task: Slice a potato, put a slice into the pot

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          1.5            0              0              0
   1  Pan             0.355          1.111          -0.253         0              0              0              61
   2  Pan             -1.104         0.136          -2.453         0              90             0              79
   3  Potato          -1.856         0.941          -2.146         0              0              0              86
   4  Potato          0.324          0.941          -2.560         0              0              0              63
   5  Potato          -0.122         1.820          -2.514         0              0              0              87
   6  CreditCard      0.893          0.312          -2.383         0              0              0              65
   7  CreditCard      0.781          0.773          -2.377         0              0              0              57
   8  Tomato          0.840          0.949          -2.253         0              0              0              63
   9  SoapBottle      -1.740         0.155          -0.101         0              90             0              84
  10  SaltShaker      -1.868         0.474          -0.148         0              90             0              76
  11  SaltShaker      -0.816         0.133          -2.301         0              0              0              79
  12  Bread           -0.473         1.184          0.504          0              0              0              61
  13  Lettuce         -1.856         0.991          -0.698         0              0              0              86
  14  Apple           -2.038         0.591          1.168          0              90             0              94
  15  Apple           -1.982         1.356          1.092          0              90             0              94
  16  Knife           -0.335         1.136          -0.001         0              0              0              61
  17  Spoon           0.217          1.112          -0.001         0              0              0              61
  18  Mug             -1.731         0.956          -0.168         0              90             0              95
  19  Spatula         1.098          0.925          -2.484         0              0              0              63
  20  Pot             -2.040         1.507          1.176          0              90             0              94
  21  ButterKnife     -1.852         0.769          -1.501         0              90             0              96
  22  ButterKnife     0.453          0.910          -2.253         0              0              0              63
  23  Kettle          -0.465         0.950          -2.372         0              90             0              59
  24  WineBottle      -1.935         0.048          2.076          0              270            0              92
  25  Bowl            -1.705         0.132          -1.273         0              90             0              62
  26  Book            0.155          1.1            0.617          0              315            0              61
  27  Glassbottle     -0.335         1.112          -0.506         0              0              0              61
  28  Knife           -0.335         1.136          -0.759         0              180            0              61
  29  Bread           1.098          0.983          -2.637         0              0              0              63
  30  Fork            1.098          0.911          -2.253         0              0              0              63
  31  Potato          -1.935         0.078          1.933          0              270            0              92
  32  SoapBottle      1.789          0.554          -2.614         0              180            0              91
  33  Kettle          -0.036         0.950          -2.576         0              270            0              64
  34  Pan             -0.197         1.111          -0.253         0              0              0              61
  35  Plate           -2.037         0.795          0.920          0              90             0              94
  36  Tomato          -2.081         1.542          1.343          0              90             0              94
  37  Vase            -1.438         0.913          -2.406         0              0              0              86
  38  Egg             0.582          0.945          -2.637         0              0              0              63
  39  CreditCard      1.789          0.877          -2.617         0              180            0              88
  40  Statue          1.955          0.168          -2.543         0              0              0              93
  41  WineBottle      0.840          0.911          -2.637         0              0              0              63
  42  Pot             -0.059         1.115          0.251          0              0              0              61
  43  Spatula         -1.774         0.926          -2.256         0              0              0              86
  44  PaperTowelRoll  -0.059         1.215          -0.759         0              0              0              61
  45  Cup             -2.114         1.303          1.092          0              90             0              94
  46  Vase            0.563          0.138          -2.485         0              0              0              78
  47  Bowl            -0.848         0.908          -2.406         0              0              0              86
  48  SaltShaker      -1.611         0.907          -2.585         0              0              0              86
  49  PepperShaker    0.279          0.136          -2.239         0              0              0              78
  50  Lettuce         0.217          1.191          0.251          0              0              0              61
  51  ButterKnife     -2.019         0.911          -0.513         0              0              0              86
  52  Apple           -1.997         0.591          1.334          0              90             0              94
  53  DishSponge      1.996          0.552          -2.562         0              180            0              91
  54  Spoon           -0.473         1.112          0.757          0              0              0              61
  55  Mug             -2.018         0.764          -1.501         0              90             0              96
  56  StoveBurner     -0.036         0.915          -2.372         0              0              0
  57  Drawer          0.949          0.832          -2.197         0              0              0
  58  Drawer          -1.560         0.839          0.204          0              90             0
  59  StoveBurner     -0.465         0.915          -2.371         0              180            0
  60  Drawer          -1.560         0.839          -0.197         0              90             0
  61  CounterTop      -0.079         1.147          -0.001         0              0              0
  62  Cabinet         -1.549         0.494          -1.964         0              90             0
  63  CounterTop      0.693          0.946          -2.483         0              0              0
  64  StoveBurner     -0.036         0.915          -2.576         0              0              0
  65  Drawer          0.949          0.393          -2.200         0              0              0
  66  Drawer          0.949          0.708          -2.200         0              0              0
  67  Cabinet         -1.549         0.494          0.379          0              90             0
  68  StoveKnob       -0.022         0.881          -2.187         45             0              0
  69  Drawer          0.949          0.560          -2.201         0              0              0
  70  StoveBurner     -0.465         0.915          -2.575         0              180            0
  71  Window          -2.230         1.429          -1.203         0              0              0
  72  StoveKnob       -0.483         0.881          -2.187         45             0              0
  73  Sink            -1.899         0.964          -1.5           0              90             0
  74  StoveKnob       -0.328         0.881          -2.187         45             0              0
  75  Cabinet         -0.727         2.015          -2.460         0              0              0
  76  Drawer          -1.560         0.655          -0.196         0              90             0
  77  Cabinet         -1.685         2.015          -2.461         0              0              0
  78  Cabinet         0.680          0.494          -2.200         0              0              0
  79  Cabinet         -1.179         0.494          -2.200         0              0              0
  80  Cabinet         -1.849         2.015          0.379          0              90             0
  81  Drawer          0.949          0.221          -2.200         0              0              0
  82  StoveKnob       -0.183         0.881          -2.187         45             0              0
  83  Cabinet         0.719          2.015          -2.460         0              0              0
  84  Drawer          -1.560         0.331          -0.196         0              90             0
  85  Cabinet         0.680          2.015          -2.460         0              0              0
  86  CounterTop      -1.868         0.946          -1.205         0              0              0
  87  Microwave       -0.236         1.689          -2.525         0              0              0
  88  Shelf           1.751          0.880          -2.560         0              0              0
  89  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  90  Toaster         -1.835         0.900          0.134          0              90             0
  91  Shelf           1.750          0.552          -2.559         0              0              0
  92  GarbageCan      -1.935         -0.002         2.029          0              270            0
  93  Shelf           1.750          0.172          -2.559         0              0              0
  94  Fridge          -2.096         0.0            1.088          0              0              0
  95  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  96  SinkBasin       -1.908         0.759          -1.488         0              90             0
  97  LightSwitch     2.329          1.309          -0.159         0              270            0
  98  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  99  Stool           0.702          0.000          -0.514         1.202          65.108         0
 100  Stool           0.743          0.000          0.563          1.227          106.706        0
 101  Faucet          -2.070         1.132          -1.514         0              0              0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn left, go forward, turn left, go forward, turn right at the sink | STEP 2: Pick up the knife in the sink | STEP 3: Move a bit to the left | STEP 4: Cut the potato on the counter | STEP 5: Put the knife on the counter | STEP 6: Pick up a potato slice from the counter | STEP 7: Turn right, go forward, turn left at the fridge  | STEP 8: Open the fridge, put the potato slice in the pot in the fridge | STEP 9: Pick up the pan from the fridge | STEP 10: Turn left, go forward, turn right at the sink | STEP 11: Put the pot in the sink | END