Task: Clean a potato slice as well as put it on the edge of the sink.

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          3.5            0              270            0
   1  Potato          -1.317         0.943          1.143          0              90             0              89
   2  ButterKnife     -1.185         0.900          1.452          0              90             0              89
   3  ButterKnife     0.800          0.823          2.285          0              0              0              53
   4  Spoon           0.800          0.824          2.198          0              0              0              53
   5  Spoon           -2.199         0.700          3.699          0              270            0              60
   6  Fork            -0.921         0.901          1.452          0              90             0              89
   7  Fork            -2.779         0.823          3.405          0              0              0              71
   8  Egg             -1.309         0.733          3.733          0              0              0              83
   9  Plate           -1.293         0.131          3.674          0              0              0              68
  10  Cup             -2.511         0.126          3.243          0              0              0              72
  11  Cup             -1.053         0.900          1.349          0              90             0              89
  12  Knife           -0.524         0.923          1.143          0              90             0              89
  13  Knife           -1.698         0.846          3.577          0              0              0              71
  14  Tomato          -2.643         1.476          2.165          0              90             0              80
  15  Bowl            0.743          0.124          2.572          0              0              0              55
  16  SaltShaker      0.626          0.122          2.159          0              0              0              63
  17  Lettuce         0.875          0.898          2.458          0              0              0              53
  18  Lettuce         -2.636         1.266          2.221          0              90             0              80
  19  Mug             -1.109         0.940          1.203          0              0              0              89
  20  Plate           -2.136         1.402          3.897          0              0              0              49
  21  Fork            -0.657         0.901          1.246          0              270            0              89
  22  Bread           -2.577         1.048          2.221          0              90             0              80
  23  Spatula         0.725          0.838          0.895          0              90             0              48
  24  PaperTowelRoll  0.875          0.927          1.028          0              0              0              48
  25  Potato          0.650          0.866          2.545          0              0              0              53
  26  SoapBottle      0.931          0.023          2.889          0              0              0              82
  27  Egg             -1.486         1.395          3.934          0              180            0              77
  28  Cup             0.650          0.822          0.850          0              0              0              48
  29  Pot             0.913          0.850          1.375          0              0              0              47
  30  SaltShaker      -0.754         0.155          3.834          0              0              0              57
  31  Pan             -2.667         0.812          3.74           0              137.145        0              71
  32  PepperShaker    -2.501         1.395          3.818          0              0              0              46
  33  ButterKnife     0.725          0.823          2.631          0              0              0              53
  34  Tomato          -2.677         1.476          2.389          0              90             0              80
  35  DishSponge      -1.468         0.697          3.857          0              0              0              83
  36  Lettuce         -0.580         0.956          1.358          31.822         0              0              89
  37  Spoon           0.771          0.692          1.016          0              0              0              59
  38  Apple           -2.923         0.884          3.554          0              0              0              71
  39  Knife           1.024          0.846          2.371          0              0              0              53
  40  Mug             -0.995         1.236          3.810          0              0              0              52
  41  Bowl            -2.461         0.765          2.389          0              270            0              80
  42  Drawer          0.729          0.703          2.199          0              0              0
  43  Cabinet         -1.962         1.926          3.733          0              0              0
  44  Cabinet         -2.377         2.014          1.058          0              0              0
  45  Drawer          0.729          0.703          2.532          0              0              0
  46  Cabinet         -2.622         1.925          3.733          0              0              0
  47  StoveBurner     0.913          0.843          1.375          0              0              0
  48  CounterTop      0.864          0.858          0.984          0              0              0
  49  Cabinet         -1.976         1.779          3.734          0              0              0
  50  Cabinet         0.580          0.385          0.819          0              0              0
  51  Cabinet         -2.379         1.408          1.677          0              0              0
  52  Cabinet         -0.419         1.703          3.736          0              0              0
  53  CounterTop      0.864          0.858          2.371          0              0              0
  54  Sink            -1.702         0.726          3.828          0              180            0
  55  Cabinet         0.580          0.385          2.694          0              0              0
  56  Cabinet         -2.379         0.637          1.677          0              0              0
  57  Cabinet         -0.419         0.674          3.736          0              0              0
  58  Cabinet         -2.377         2.014          2.558          0              0              0
  59  Drawer          0.729          0.703          0.980          0              0              0
  60  Drawer          -2.114         0.706          3.657          0              0              0
  61  Cabinet         -2.377         1.691          2.572          0              0              0
  62  Cabinet         -2.951         1.925          3.733          0              0              0
  63  Cabinet         0.580          0.385          2.360          0              0              0
  64  Cabinet         -2.426         0.435          3.421          0              0              0
  65  StoveBurner     0.642          0.843          1.375          0              0              0
  66  Cabinet         -2.377         1.927          1.686          0              0              0
  67  Cabinet         -2.377         2.013          3.177          0              0              0
  68  Cabinet         -1.136         0.385          3.516          0              0              0
  69  StoveBurner     0.913          0.843          1.768          0              0              0
  70  Cabinet         -1.974         0.385          3.516          0              0              0
  71  CounterTop      -2.081         0.858          3.799          0              0              0
  72  Cabinet         -2.426         0.435          3.174          0              0              0
  73  Cabinet         -2.377         2.014          1.693          0              0              0
  74  Cabinet         -1.986         0.385          3.511          0              0              0
  75  StoveBurner     0.642          0.843          1.768          0              0              0
  76  Cabinet         -1.098         1.926          3.729          0              0              0
  77  Microwave       -1.529         1.250          3.881          1.622          180            0
  78  CoffeeMachine   1.000          0.812          2.492          0              270            0
  79  LightSwitch     0.825          1.396          4.082          0              180            0
  80  Fridge          -2.642         0.0            2.134          0              180            0
  81  Window          -1.131         1.673          0.808          90             0              0
  82  GarbageCan      0.931          -0.000         2.918          0              0              0
  83  SinkBasin       -1.601         0.686          3.774          0              0              0
  84  StoveKnob       1.104          1.002          1.886          0              0              70.346
  85  StoveKnob       1.104          1.002          1.733          0              0              70.346
  86  StoveKnob       1.104          1.002          1.321          0              0              70.346
  87  StoveKnob       1.104          1.002          1.481          0              0              70.346
  88  Toaster         -2.247         0.812          3.862          0              180            0
  89  DiningTable     -0.917         -0.000         1.203          0              0              0
  90  Stool           -0.932         0.000          1.404          1.196          21.715         0
  91  Faucet          -1.842         0.809          3.984          0              180            0
  92  Faucet          -1.371         0.809          3.985          0              180            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn left and walk across the room and turn to the right to face the sink. | STEP 2: Pick up the knife on the edge of the sink. | STEP 3: Turn around, walk across the room, turn left to face the table. | STEP 4: Cut the potato on the table. | STEP 5: Turn left and walk across the room to face the sink. | STEP 6: Place the knife on the edge of the sink. | STEP 7: Turn around, walk across the room, turn left to face the table. | STEP 8: Pick up a potato slice from on the table. | STEP 9: Turn left and walk across the room to face the sink. | STEP 10: Clean the potato in the sink and then pick it up. | STEP 11: Step back and face the edge of the sink. | STEP 12: Put the potato slice on the edge of the sink. | END