Task: Putting a potato slice on the black table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.869          0.0            0              90             0
   1  Pan             -2.097         0.930          1.049          0              0              0              48
   2  Potato          0.672          0.805          -0.515         0              270            0              64
   3  Potato          0.601          0.698          0.326          0              0              0              46
   4  DishSponge      0.858          1.463          0.349          0              0              0              53
   5  DishSponge      0.812          1.463          0.534          0              0              0              53
   6  ButterKnife     0.781          0.665          0.448          0              0              0              46
   7  Spoon           0.671          0.761          -0.061         0              0              0              40
   8  Spoon           -1.056         0.901          0.843          0              270            0              67
   9  Fork            -1.719         0.702          -1.524         0              0              0              77
  10  Egg             0.883          0.809          -0.570         0              270            0              64
  11  Egg             0.635          0.213          -2.190         0              270            0              Floor|+01.10|
  12  Tomato          -1.297         0.100          -3.611         0              270            0              56
  13  Bowl            -1.056         0.899          1.187          0              270            0              67
  14  Bowl            -1.719         0.700          -1.199         0              0              0              77
  15  Bread           -0.051         0.944          0.929          0              270            0              67
  16  Lettuce         0.149          0.987          1.187          0              270            0              67
  17  Lettuce         -0.252         0.987          0.929          0              270            0              67
  18  Apple           0.961          0.718          0.630          0              0              0              46
  19  Pot             -1.555         0.930          1.049          0              0              0              50
  20  Plate           -2.023         0.692          -1.447         0              0              0              77
  21  Fork            -0.252         0.901          1.272          0              0              0              67
  22  SoapBottle      0.582          0.882          0.098          0              0              0              41
  23  Apple           -1.949         0.852          -3.738         0              0              0              63
  24  Pan             0.740          -0.007         -0.596         0              0              0              44
  25  Egg             -1.261         0.088          -3.501         0              270            0              56
  26  Spatula         0.866          0.775          -0.188         0              90             0              40
  27  Potato          0.799          0.805          -0.570         0              270            0              64
  28  Cup             0.669          0.663          -1.880         0              270            0              61
  29  SaltShaker      0.898          0.012          -0.053         0              0              0              51
  30  PepperShaker    0.901          0.661          0.387          0              0              0              46
  31  ButterKnife     -2.054         0.701          -0.983         0              0              0              77
  32  DishSponge      0.623          0.759          0.002          0              0              0              40
  33  Bread           0.661          0.708          0.508          0              0              0              46
  34  Lettuce         0.708          1.461          -1.958         0              270            0              61
  35  Tomato          -1.056         0.949          0.929          0              270            0              67
  36  Spoon           0.877          0.884          0.098          0              0              0              41
  37  Knife           1.024          0.906          -0.176         0              90             0              41
  38  Mug             0.698          0.941          -1.360         0              270            0              54
  39  Bowl            0.757          0.770          -0.735         0              270            0              64
  40  Drawer          0.706          0.766          -0.125         0              0              0
  41  CounterTop      0.792          0.919          -0.108         0              0              0
  42  Mirror          1.093          1.602          -0.643         0              0              0
  43  StoveBurner     -2.096         0.890          0.785          0              0              0
  44  Cabinet         0.507          0.345          -0.426         0              0              0
  45  StoveBurner     -1.552         0.890          0.785          0              0              0
  46  SideTable       0.770          -0.030         0.443          0              0              0
  47  Sink            0.753          0.882          -0.680         0              0              0
  48  StoveBurner     -2.096         0.890          1.049          0              0              0
  49  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  50  StoveBurner     -1.554         0.890          1.049          0              0              0
  51  Cabinet         0.507          0.345          0.156          0              0              0
  52  Cabinet         0.717          1.822          -0.398         0              0              0
  53  Cabinet         0.717          1.822          0.669          0              0              0
  54  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  55  Toaster         -0.522         0.886          1.081          0              180            0
  56  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  57  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  59  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  61  Fridge          0.680          -0.031         -1.957         0              0              0
  62  Window          -2.424         1.639          -2.453         90             270            0
  63  Microwave       -1.994         0.690          -3.651         0              0              0
  64  SinkBasin       0.757          0.762          -0.688         0              270            0
  65  LightSwitch     1.102          1.368          -3.737         0              270            0
  66  Shelf           -0.350         0.124          0.857          0              0              0
  67  DiningTable     -0.350         -0.025         0.857          0              0              0
  68  DiningTable     -1.909         -0.032         -3.507         0              0              0
  69  Blinds          -2.343         2.151          -2.437         0              270            0
  70  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  71  AluminumFoil    0.751          0.225          0.287          0              0              0
  72  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  73  Shelf           0.771          0.226          0.445          0              0              0
  74  Shelf           0.771          0.456          0.446          0              0              0
  75  Faucet          1.025          0.873          -0.678         270            180            0
  76  Shelf           -0.350         0.497          0.857          0              0              0
  77  DiningTable     -1.929         -0.035         -1.398         0              90             0
  78  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn slightly to the right and face the counter | STEP 2: Grab the knife that's on the counter | STEP 3: Turn right and stop at the counter | STEP 4: Cut the potato in the sink into slices | STEP 5: Place the knife in the sink | STEP 6: Grab a slice of the potato | STEP 7: Turn right and stop at the fridge | STEP 8: Open the bottom door of the fridge and put the potato on the top rack. Close the door. Open the door and take the potato out. | STEP 9: Turn left and head to the black table | STEP 10: Place the potato on the table | END