Task: Placing a cooked slice of potato on a table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          0.5            0              180            0
   1  Statue          -1.627         0.910          -1.591         0              0              0              46
   2  WineBottle      0.525          0.913          -1.572         0              0              0              46
   3  WineBottle      -2.996         0.879          3.444          0              270            0              48
   4  Spoon           -2.807         0.875          2.884          0              0              0              48
   5  Egg             -0.263         0.828          2.137          0              180            0              71
   6  Cup             -2.733         0.876          3.559          0              0              0              48
   7  Knife           -2.072         0.934          -0.288         0              0              0              46
   8  SoapBottle      1.651          0.910          -1.255         0              0              0              66
   9  SoapBottle      -0.999         1.654          -1.674         0              0              0              58
  10  Tomato          0.079          1.619          2.100          0              180            0              71
  11  Tomato          -2.321         0.922          3.444          0              270            0              48
  12  Mug             0.630          1.648          -1.675         0              0              0              57
  13  Mug             1.316          1.756          -1.629         0              0              0              70
  14  Book            -2.659         0.875          2.715          0              0              0              48
  15  Fork            -2.405         0.875          3.685          0              225            0              48
  16  Tomato          -2.152         0.925          3.296          0              270            0              48
  17  Egg             -0.263         0.828          2.251          0              180            0              71
  18  Kettle          -0.833         0.900          -1.757         0              0              0              46
  19  Vase            3.689          0.554          1.864          0              270            0              69
  20  Cup             -0.330         0.695          -1.678         0              270            0              75
  21  WineBottle      -3.165         0.879          3.073          0              270            0              48
  22  Plate           -2.525         0.882          3.565          0              225            0              48
  23  Spatula         -2.114         0.733          -1.716         0              90             0              65
  24  Potato          0.179          0.965          -1.718         0              0              0              43
  25  Pot             0.974          0.957          -1.419         0              180            0              64
  26  Knife           0.124          0.950          -1.356         0              0              0              43
  27  SaltShaker      -1.775         1.653          -1.821         0              0              0              59
  28  PepperShaker    -2.621         0.874          2.945          0              225            0              48
  29  Lettuce         0.079          0.867          2.194          0              180            0              71
  30  ButterKnife     0.124          0.928          -1.646         0              270            0              43
  31  Bread           -2.487         0.958          3.288          0              225            0              48
  32  Vase            -2.013         0.120          -1.580         0              0              0              47
  33  DishSponge      0.549          0.116          -1.370         0              0              0              53
  34  Apple           -2.152         0.933          3.073          0              270            0              48
  35  Pan             1.328          0.957          -1.420         0              180            0              50
  36  Spoon           -2.828         0.875          3.370          0              270            0              48
  37  SoapBottle      0.633          0.117          -1.483         0              0              0              53
  38  Mug             -2.321         0.873          3.073          0              270            0              48
  39  Statue          3.676          0.168          1.410          0              334.521        0              69
  40  Statue          3.793          0.551          1.449          0              270            0              69
  41  Bowl            -2.037         0.901          0.487          0              0              0              46
  42  Cabinet         -2.171         2.009          -1.538         0              0              0
  43  Sink            0.024          0.771          -1.708         0              270            0
  44  Cabinet         1.444          2.259          -1.542         0              0              0
  45  StoveBurner     0.974          0.957          -1.688         0              180            0
  46  CounterTop      -1.866         0.947          -0.614         0              0              0
  47  Cabinet         -2.217         0.373          -1.874         0              0              0
  48  DiningTable     -2.663         0.002          3.208          0              0              0
  49  StoveBurner     1.328          0.957          -1.688         0              180            0
  50  StoveBurner     1.328          0.957          -1.420         0              180            0
  51  Cabinet         -1.478         0.373          -1.235         0              0              0
  52  Cabinet         1.775          0.372          -1.242         0              0              0
  53  Cabinet         0.774          0.372          -1.242         0              0              0
  54  Cabinet         0.375          0.372          -1.242         0              0              0
  55  Cabinet         -0.574         0.372          -1.238         0              0              0
  56  Cabinet         1.775          2.009          -1.542         0              0              0
  57  Cabinet         0.524          2.009          -1.542         0              0              0
  58  Cabinet         -0.714         2.009          -1.542         0              0              0
  59  Cabinet         -1.671         2.009          -1.538         0              0              0
  60  Cabinet         0.854          2.259          -1.542         0              0              0
  61  Drawer          -1.636         0.683          -0.930         0              0              0
  62  Drawer          1.650          0.682          -1.396         0              0              0
  63  Drawer          0.600          0.682          -1.396         0              0              0
  64  StoveBurner     0.974          0.957          -1.419         0              180            0
  65  Drawer          -2.062         0.683          -1.579         0              0              0
  66  CounterTop      1.645          0.945          -1.527         0              0              0
  67  Shelf           3.725          0.880          1.671          0              90             0
  68  LightSwitch     2.830          1.266          -0.748         0              0              0
  69  Shelf           3.726          0.552          1.671          0              90             0
  70  Microwave       1.150          1.655          -1.614         0              0              0
  71  Fridge          -0.035         0.0            2.177          0              180            0
  72  Window          -0.115         1.802          -1.896         90             0              0
  73  Window          -4.009         1.799          0.310          90             90             0
  74  Shelf           3.726          0.172          1.671          0              90             0
  75  SinkBasin       -0.330         0.686          -1.581         0              270            0
  76  GarbageCan      -0.870         -0.001         2.136          0              90             0
  77  StoveKnob       1.089          0.913          -1.243         45             0              0
  78  StoveKnob       1.208          0.913          -1.243         45             0              0
  79  StoveKnob       1.340          0.913          -1.243         45             0              0
  80  StoveKnob       0.961          0.913          -1.243         45             0              0
  81  Toaster         1.637          0.900          -1.673         0              0              0
  82  Chair           -3.505         0.002          3.290          0              105.736        0
  83  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  84  HousePlant      -2.663         0.835          3.209          0              0              0
  85  Faucet          -0.187         0.922          -1.75          0              311.166        0
  86  ShelvingUnit    3.726          0.006          1.671          0              90             0
  87  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  88  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  89  Chair           -2.934         0.002          2.437          0              28.531         0
  90  Chair           -1.698         0.002          3.235          0              245.204        0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn left before going around a counter that is on the right turning to the right passed the counter and move towards the sink | STEP 2: Grab potato from beside the sink and on the left side of the butter knife | STEP 3: Move slightly right towards the other side of the sink | STEP 4: Place the potato in the sink | STEP 5: Pick up the butter knife from the left side of the sink | STEP 6: Cut the potato into slices | STEP 7: Place the butter knife into the sink to the left of the potato | STEP 8: Pick up a slice of potato | STEP 9: Turn left towards the stove next to the sink | STEP 10: Open microwave and place potato slice in the microwave then close the microwave door before opening it after the slice has cooked and removing it from the microwave | STEP 11: Turn right and move towards the counter before going around the counter keeping it to the left before turning right and moving towards the table | STEP 12: Place the cooked slice on the table | END