Task: To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          0.25           0              90             0
   1  Kettle          0.231          2.158          1.467          0              0              0              76
   2  Pot             0.281          0.964          1.347          0              0              0              57
   3  Pot             0.281          0.964          1.082          0              0              0              48
   4  Spoon           -0.734         0.822          -1.473         0              0              0              101
   5  Spatula         0.152          0.926          -0.302         0              180            0              42
   6  Spatula         -0.682         0.835          -1.328         0              90             0              101
   7  Cup             0.862          1.653          -0.810         0              180            0              52
   8  Cup             2.838          1.561          -0.578         0              0              0              97
   9  Egg             -1.933         0.461          1.502          0              270            0              95
  10  Egg             0.518          1.822          1.423          0              180            0              100
  11  Knife           2.221          0.944          1.214          0              0              0              77
  12  SoapBottle      2.118          0.120          1.193          0              0              0              78
  13  SaltShaker      1.896          0.111          1.037          0              0              0              62
  14  SaltShaker      0.152          0.908          -0.302         0              0              0              42
  15  PepperShaker    1.102          0.111          1.117          0              0              0              71
  16  PepperShaker    1.488          0.110          1.156          0              0              0              71
  17  Lettuce         -0.836         0.901          -1.400         0              0              0              101
  18  Lettuce         1.155          0.992          1.468          0              0              0              77
  19  SoapBottle      0.480          1.660          -0.773         0              180            0              81
  20  Plate           2.211          0.902          -0.462         0              0              0              42
  21  Fork            -0.839         0.821          -1.257         0              90             0              101
  22  Pot             2.221          0.915          1.468          0              0              0              77
  23  Bread           1.03           0.953          -0.519         0              0              0              42
  24  Egg             -1.056         0.858          -1.103         0              90             0              101
  25  Kettle          1.210          0.115          -0.421         0              180            0              50
  26  Tomato          2.591          1.594          -0.644         0              0              0              97
  27  Cup             2.838          1.016          -0.644         0              0              0              97
  28  Spatula         1.155          0.926          1.129          0              90             0              77
  29  Apple           2.900          0.795          -0.535         0              0              0              97
  30  Pan             0.637          0.960          1.090          0              0              0              45
  31  Lettuce         -0.198         0.992          1.129          0              0              0              53
  32  SaltShaker      2.156          0.908          -0.769         0              0              0              42
  33  Knife           1.688          0.944          1.214          0              0              0              77
  34  Potato          2.591          1.323          -0.709         0              0              0              97
  35  PepperShaker    -0.043         0.908          -0.302         0              0              0              42
  36  ButterKnife     -1.056         0.820          -1.206         0              90             0              101
  37  Bowl            1.842          1.653          1.429          0              0              0              54
  38  DishSponge      0.634          0.911          -0.769         0              0              0              42
  39  Spoon           1.955          0.912          1.129          0              0              0              77
  40  Mug             2.591          0.720          -0.565         0              90             0              97
  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, walk across the room and approach the kitchen table. | STEP 2: Pick up the knife of the kitchen table. | STEP 3: Face the large green vegetable on the table | STEP 4: Cut the large green vegetable on the table. | STEP 5: Turn around and walk to face the cabinet to the left of the stove. | STEP 6: Place the slice of vegetable in the cabinet to the left of the stove. | STEP 7: Turn around and approach the table in the kitchen. | STEP 8: Pick up a slice of the green vegetable on the table. | STEP 9: Turn around and walk around the corner to face the sink. | STEP 10: Place the slice of vegetable in the sink, wash it, then pick it back up. | STEP 11: Walk around the right side of the sink to face the kitchen table. | STEP 12: Place the slice of vegetable on the front of the kitchen table. | END