Task: Slice potato, put knife on above third cabinet, place potato slice to the right of the knife

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          0.5            0              180            0
   1  Potato          2.777          1.323          -0.447         0              0              0              97
   2  DishSponge      -0.164         1.654          1.432          0              0              0              68
   3  Kettle          -0.017         0.766          -0.596         0              0              0              99
   4  Kettle          1.835          1.655          -0.811         0              180            0              79
   5  Pot             0.281          0.964          1.347          0              0              0              57
   6  Spoon           2.173          0.772          -0.460         0              180            0              55
   7  Spatula         0.888          0.926          -0.684         0              90             0              42
   8  Cup             1.558          0.112          -0.538         0              180            0              59
   9  Cup             1.804          1.653          1.546          0              0              0              54
  10  Egg             -0.983         0.858          -1.155         0              90             0              101
  11  Knife           0.634          0.944          -0.515         0              0              0              42
  12  Tomato          2.591          0.756          -0.535         0              0              0              97
  13  Tomato          -1.962         0.455          1.417          0              270            0              95
  14  Bowl            2.153          0.112          1.119          0              0              0              78
  15  PepperShaker    -0.734         0.817          -1.328         0              0              0              101
  16  PepperShaker    -0.694         0.817          -1.155         0              90             0              101
  17  Mug             2.715          1.283          -0.578         0              0              0              97
  18  Apple           -2.019         0.492          1.290          0              270            0              95
  19  SoapBottle      -0.621         0.826          -1.257         0              90             0              101
  20  Plate           2.715          1.566          -0.578         0              0              0              97
  21  Fork            1.771          0.772          -0.498         0              90             0              56
  22  Pot             0.281          0.964          1.082          0              0              0              48
  23  Bread           1.03           0.953          -0.519         0              0              0              42
  24  Egg             2.838          0.764          -0.535         0              0              0              97
  25  Kettle          0.654          2.154          1.468          0              0              0              51
  26  Tomato          -0.043         0.942          -0.316         0              0              0              42
  27  Cup             2.900          1.016          -0.709         0              0              0              97
  28  Spatula         2.156          0.926          -0.515         0              0              0              42
  29  Apple           -0.939         0.889          -1.400         0              0              0              101
  30  Pan             0.637          0.960          1.090          0              0              0              45
  31  Lettuce         2.912          1.345          -0.613         14.844         5.052          19.928         97
  32  SaltShaker      -0.142         0.908          -0.302         0              0              0              42
  33  Knife           -1.056         0.853          -1.308         0              90             0              101
  34  Potato          0.193          0.800          -0.762         0              0              0              99
  35  PepperShaker    2.154          1.650          1.585          0              0              0              66
  36  ButterKnife     0.888          0.911          -0.345         0              0              0              42
  37  Bowl            2.715          1.017          -0.644         0              0              0              97
  38  DishSponge      1.896          0.114          1.196          0              0              0              62
  39  Spoon           2.217          0.772          1.122          0              0              0              73
  40  Mug             0.284          2.152          1.467          0              0              0              76
  41  Sink            0.050          0.902          -0.648         0              0              0
  42  CounterTop      1.358          0.947          -0.600         0              0              0
  43  Cabinet         2.986          2.009          1.304          0              0              0
  44  Cabinet         1.022          2.009          -0.607         0              180            0
  45  StoveBurner     0.678          0.923          1.082          0              0              0
  46  Cabinet         2.371          0.402          0.995          0              0              0
  47  Drawer          -0.125         0.792          0.995          0              0              0
  48  StoveBurner     0.281          0.923          1.082          0              0              0
  49  Cabinet         1.025          0.402          0.995          0              0              0
  50  Cabinet         1.023          0.402          -0.296         0              180            0
  51  Cabinet         0.974          2.259          1.304          0              0              0
  52  Cabinet         0.979          2.009          -0.607         0              180            0
  53  CounterTop      -0.158         0.947          1.299          0              0              0
  54  Cabinet         1.725          2.009          1.304          0              0              0
  55  Drawer          2.205          0.792          -0.294         0              180            0
  56  Drawer          1.869          0.792          -0.294         0              180            0
  57  StoveBurner     0.281          0.923          1.347          0              0              0
  58  Drawer          2.512          0.792          0.995          0              0              0
  59  Cabinet         1.673          0.402          -0.296         0              180            0
  60  Drawer          1.524          0.792          0.995          0              0              0
  61  Drawer          1.174          0.792          -0.294         0              180            0
  62  Cabinet         1.720          0.402          0.995          0              0              0
  63  Cabinet         2.348          2.009          -0.607         0              180            0
  64  Cabinet         1.676          2.009          -0.607         0              180            0
  65  Cabinet         1.673          2.009          1.304          0              0              0
  66  Cabinet         2.326          2.009          1.304          0              0              0
  67  Cabinet         2.370          2.009          1.304          0              0              0
  68  Cabinet         0.021          2.009          1.304          0              0              0
  69  Cabinet         1.025          2.009          1.304          0              0              0
  70  Cabinet         -0.274         0.402          0.995          0              0              0
  71  Cabinet         1.675          0.402          0.995          0              0              0
  72  Drawer          1.524          0.792          -0.294         0              180            0
  73  Drawer          2.187          0.792          0.995          0              0              0
  74  Cabinet         2.977          0.402          0.995          0              0              0
  75  Drawer          1.862          0.792          0.995          0              0              0
  76  Cabinet         0.072          2.259          1.304          0              0              0
  77  CounterTop      1.917          0.947          1.299          0              0              0
  78  Cabinet         2.328          0.402          0.995          0              0              0
  79  Cabinet         1.723          2.009          -0.607         0              180            0
  80  StoveBurner     0.677          0.923          1.345          0              0              0
  81  Cabinet         0.355          2.009          -0.607         0              180            0
  82  Cabinet         0.332          2.009          -0.607         0              180            0
  83  Cabinet         2.349          0.402          -0.296         0              180            0
  84  Cabinet         -0.284         2.009          -0.607         0              180            0
  85  Faucet          0.061          0.906          -0.903         0              0              0
  86  Drawer          2.837          0.792          0.995          0              0              0
  87  Drawer          1.175          0.792          0.995          0              0              0
  88  Cabinet         1.723          0.402          -0.296         0              180            0
  89  StoveKnob       0.588          1.093          1.557          287.970        0              0
  90  StoveKnob       0.188          1.093          1.557          287.970        0              0
  91  StoveKnob       0.749          1.093          1.557          287.970        0              0
  92  StoveKnob       0.338          1.093          1.557          287.970        0              0
  93  Toaster         1.934          0.900          -0.717         0              0              0
  94  LightSwitch     -1.662         1.427          1.649          0              180            0
  95  GarbageCan      -1.965         -0.029         1.358          0              270            0
  96  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  97  Fridge          3.043          0.0            -0.709         0              0              0
  98  Window          -2.183         1.501          -0.014         90             270            0
  99  SinkBasin       0.043          0.755          -0.651         0              0              0
 100  Microwave       0.531          1.675          1.437          0              180            0
 101  DiningTable     -0.836         8.404          -1.258         0              0              0
 102  Chair           -1.611         0.002          -1.185         0              45             0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: turn around, go to dishwasher to the right | STEP 2: pick up knife on counter in front of loaf of bread | STEP 3: go to sink to the right | STEP 4: slice potato in the sink | STEP 5: turn around, go to third cabinet from the right | STEP 6: place knife on the counter above third cabinet | STEP 7: turn around, go to sink to the right | STEP 8: pick up slice of potato from the sink | STEP 9: turn around, face stove, look upward to microwave | STEP 10: open microwave, microwave potato slice, remove potato from microwave, close microwave door | STEP 11: turn right, go to knife on the counter to the right | STEP 12: place potato slice to the right of the knife | END