Task: To wash a slice of potato and place it on the white table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          1.75           0              0              0
   1  Potato          -1.486         1.402          3.934          0              180            0              80
   2  Potato          0.800          0.866          2.198          0              0              0              56
   3  DishSponge      -1.836         0.697          3.857          0              0              0              86
   4  DishSponge      0.703          0.692          2.199          0              0              0              45
   5  ButterKnife     -1.053         0.900          1.452          0              180            0              92
   6  Pot             0.642          0.850          1.375          0              0              0              68
   7  Spatula         -1.053         0.915          1.349          0              0              0              92
   8  Spoon           -2.143         0.700          3.699          0              270            0              63
   9  Fork            0.635          0.691          0.944          0              90             0              62
  10  Fork            -0.921         0.901          1.349          0              270            0              92
  11  Cup             -2.498         0.718          1.840          0              90             0              83
  12  Cup             -0.789         0.900          1.555          0              90             0              92
  13  Knife           0.938          0.835          2.458          0              180            354.478        56
  14  Tomato          -2.851         0.891          3.554          0              0              0              74
  15  PepperShaker    -2.540         1.395          3.936          0              0              0              49
  16  PepperShaker    -0.524         0.896          1.143          0              90             0              92
  17  SaltShaker      1.024          0.819          0.850          0              0              0              51
  18  SaltShaker      1.099          0.819          0.984          0              0              0              51
  19  Lettuce         -2.636         1.071          2.333          0              90             0              83
  20  Mug             -2.463         1.629          3.025          0              0              0              70
  21  Apple           -1.317         0.961          1.452          0              90             0              92
  22  Apple           0.650          0.884          0.984          0              0              0              51
  23  Plate           -1.359         1.687          3.897          0              0              0              79
  24  Fork            0.805          0.692          2.235          0              270            0              45
  25  Bread           0.803          0.883          2.441          352.705        0              5.827          51
  26  Spatula         -2.374         0.838          3.724          0              0              0              74
  27  PaperTowelRoll  -0.657         1.004          1.143          0              90             0              92
  28  Potato          0.650          0.866          2.285          0              0              0              56
  29  SoapBottle      0.950          0.822          2.198          0              0              0              56
  30  Egg             1.099          0.859          1.072          0              0              0              51
  31  Cup             -1.317         0.900          1.555          0              90             0              92
  32  Pot             0.642          0.850          1.768          0              0              0              78
  33  SaltShaker      -1.697         1.679          3.897          0              0              0              79
  34  Pan             -2.667         0.812          3.74           0              137.145        0              74
  35  PepperShaker    -2.580         1.630          2.953          0              0              0              70
  36  ButterKnife     -1.336         0.823          3.545          0              0              0              74
  37  Tomato          -0.657         0.969          1.555          0              90             0              92
  38  DishSponge      -1.362         0.697          3.857          0              0              0              86
  39  Lettuce         -2.694         0.843          2.333          0              90             0              83
  40  Spoon           -0.524         0.901          1.040          0              90             0              92
  41  Apple           0.902          0.085          2.889          0              0              0              85
  42  Knife           -0.524         0.923          1.246          0              90             0              92
  43  Mug             -1.109         0.940          1.203          0              0              0              92
  44  Bowl            -0.789         0.898          1.349          0              90             0              92
  45  Drawer          0.729          0.703          2.199          0              0              0
  46  Cabinet         -1.962         1.926          3.733          0              0              0
  47  Cabinet         -2.377         2.014          1.058          0              0              0
  48  Drawer          0.729          0.703          2.532          0              0              0
  49  Cabinet         -2.622         1.925          3.733          0              0              0
  50  StoveBurner     0.913          0.843          1.375          0              0              0
  51  CounterTop      0.864          0.858          0.984          0              0              0
  52  Cabinet         -1.976         1.779          3.734          0              0              0
  53  Cabinet         0.580          0.385          0.819          0              0              0
  54  Cabinet         -2.379         1.408          1.677          0              0              0
  55  Cabinet         -0.419         1.703          3.736          0              0              0
  56  CounterTop      0.864          0.858          2.371          0              0              0
  57  Sink            -1.702         0.726          3.828          0              180            0
  58  Cabinet         0.580          0.385          2.694          0              0              0
  59  Cabinet         -2.379         0.637          1.677          0              0              0
  60  Cabinet         -0.419         0.674          3.736          0              0              0
  61  Cabinet         -2.377         2.014          2.558          0              0              0
  62  Drawer          0.729          0.703          0.980          0              0              0
  63  Drawer          -2.114         0.706          3.657          0              0              0
  64  Cabinet         -2.377         1.691          2.572          0              0              0
  65  Cabinet         -2.951         1.925          3.733          0              0              0
  66  Cabinet         0.580          0.385          2.360          0              0              0
  67  Cabinet         -2.426         0.435          3.421          0              0              0
  68  StoveBurner     0.642          0.843          1.375          0              0              0
  69  Cabinet         -2.377         1.927          1.686          0              0              0
  70  Cabinet         -2.377         2.013          3.177          0              0              0
  71  Cabinet         -1.136         0.385          3.516          0              0              0
  72  StoveBurner     0.913          0.843          1.768          0              0              0
  73  Cabinet         -1.974         0.385          3.516          0              0              0
  74  CounterTop      -2.081         0.858          3.799          0              0              0
  75  Cabinet         -2.426         0.435          3.174          0              0              0
  76  Cabinet         -2.377         2.014          1.693          0              0              0
  77  Cabinet         -1.986         0.385          3.511          0              0              0
  78  StoveBurner     0.642          0.843          1.768          0              0              0
  79  Cabinet         -1.098         1.926          3.729          0              0              0
  80  Microwave       -1.529         1.250          3.881          1.622          180            0
  81  CoffeeMachine   1.000          0.812          2.492          0              270            0
  82  LightSwitch     0.825          1.396          4.082          0              180            0
  83  Fridge          -2.642         0.0            2.134          0              180            0
  84  Window          -1.131         1.673          0.808          90             0              0
  85  GarbageCan      0.931          -0.000         2.918          0              0              0
  86  SinkBasin       -1.601         0.686          3.774          0              0              0
  87  StoveKnob       1.104          1.002          1.886          0              0              70.346
  88  StoveKnob       1.104          1.002          1.733          0              0              70.346
  89  StoveKnob       1.104          1.002          1.321          0              0              70.346
  90  StoveKnob       1.104          1.002          1.481          0              0              70.346
  91  Toaster         -2.247         0.812          3.862          0              180            0
  92  DiningTable     -0.917         -0.000         1.203          0              0              0
  93  Stool           -0.932         0.000          1.404          1.196          21.715         0
  94  Faucet          -1.842         0.809          3.984          0              180            0
  95  Faucet          -1.371         0.809          3.985          0              180            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Walk across the room to the left to face the right side of the sink. | STEP 2: Pick up the knife on the right side of the sink. | STEP 3: Take a step to the left to face the microwave. | STEP 4: Cut the potato in the microwave into slices. | STEP 5: Step back and look up to face the microwave. | STEP 6: Place the knife in the microwave. | STEP 7: Step forward and look up to face the microwave. | STEP 8: Remove a slice of potato from the microwave. | STEP 9: Take a step to the left to face the left side of the sink. | STEP 10: Wash the potato slice in the sink and then remove it. | STEP 11: Turn around and walk across the room to face the white table. | STEP 12: Place the potato slice on the white table. | END