Task: Slice two potatoes and place the slices in 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           -1.75          0.899          6.0            0              90             0
   1  Pan             -2.467         0.930          2.012          0              0              0              65
   2  Pencil          -0.181         0.925          4.944          0              0              0              62
   3  Potato          -0.383         1.369          3.231          0              270            0              110
   4  Potato          -0.342         1.614          3.470          0              270            0              110
   5  Potato          -0.454         1.104          3.479          0              270            0              110
   6  ButterKnife     -1.777         0.923          1.875          0              0              0              59
   7  ButterKnife     -1.693         0.923          1.648          0              180            0              59
   8  Fork            -0.258         0.925          4.944          0              0              0              62
   9  Spoon           -3.135         0.924          5.489          0              90             0              77
  10  Knife           -4.184         0.953          4.900          0              90             0              77
  11  Knife           -1.860         0.953          1.951          0              0              0              59
  12  SoapBottle      -3.712         0.068          6.333          0              270            0              103
  13  SoapBottle      -2.109         0.923          1.573          0              0              0              59
  14  Tomato          -4.184         0.980          3.863          0              90             0              77
  15  Tomato          -0.565         0.982          5.603          0              0              0              62
  16  Bowl            -4.242         0.920          2.766          0              0              0              77
  17  Bowl            -0.342         1.332          3.974          0              270            0              110
  18  SaltShaker      -3.125         0.075          5.310          0              90             0              55
  19  PepperShaker    -4.497         0.919          3.082          0              0              0              77
  20  Lettuce         -0.242         1.165          3.602          0              90             0              110
  21  Bread           -1.610         1.003          1.648          0              0              0              59
  22  Bread           -0.301         1.415          3.602          0              270            0              110
  23  Mug             -0.104         0.920          5.273          0              0              0              62
  24  Mug             -0.348         1.065          3.850          0              270            0              110
  25  Apple           -0.301         1.634          3.228          0              270            0              110
  26  Apple           -2.530         1.599          1.633          0              0              0              107
  27  Egg             -3.784         0.104          6.251          0              270            0              103
  28  Apple           -4.196         0.844          3.410          0              270            0              109
  29  Knife           -4.411         0.953          5.418          0              180            0              77
  30  Potato          -4.172         0.956          2.533          0              0              0              77
  31  Fork            -0.181         0.925          4.615          0              0              0              62
  32  Bowl            -0.259         1.682          3.733          0              270            0              110
  33  Plate           -0.258         0.925          5.603          0              0              0              62
  34  Lettuce         -4.233         0.886          3.159          0              270            0              109
  35  Bread           -0.488         1.004          5.273          0              0              0              62
  36  Tomato          -0.454         1.127          3.974          0              270            0              110
  37  WineBottle      -4.201         0.085          2.726          0              0              0              69
  38  Spatula         -2.026         0.938          1.724          0              90             0              59
  39  PaperTowelRoll  -0.565         1.029          4.615          0              0              0              62
  40  Cup             -0.242         1.069          3.974          0              270            0              110
  41  Pencil          -0.503         0.747          4.849          0              270            0              67
  42  Pan             -3.374         0.923          5.412          0              90             0              77
  43  Pot             -2.924         0.930          2.012          0              0              0              60
  44  SaltShaker      -1.704         0.742          1.956          0              0              0              75
  45  SoapBottle      -4.335         0.923          4.381          0              90             0              77
  46  PepperShaker    -4.094         0.751          2.501          0              0              0              57
  47  ButterKnife     -4.132         0.755          2.324          0              0              0              57
  48  DishSponge      -3.639         0.068          6.416          0              270            0              103
  49  Spoon           -4.411         0.924          5.159          0              90             0              77
  50  Mug             -0.409         0.955          6.557          0              270            0              98
  51  Cabinet         -3.203         1.931          1.777          0              0              0
  52  Cabinet         -3.187         0.390          2.089          0              0              0
  53  Cabinet         -0.637         0.387          6.882          0              180            0
  54  Drawer          -3.797         0.781          1.961          0              0              0
  55  Cabinet         -3.036         0.387          5.029          0              90             0
  56  Drawer          -0.509         0.775          5.268          0              270            0
  57  Drawer          -4.125         0.798          2.499          0              0              0
  58  Cabinet         -0.331         2.249          4.308          0              180            0
  59  CounterTop      -1.872         0.958          1.799          0              0              0
  60  StoveBurner     -2.924         0.924          2.012          0              0              0
  61  Cabinet         -0.331         2.249          6.806          0              180            0
  62  CounterTop      -0.345         0.960          5.603          0              0              0
  63  Cabinet         -3.039         1.935          5.321          0              90             0
  64  Cabinet         -3.922         0.397          2.088          0              0              0
  65  StoveBurner     -2.467         0.924          2.012          0              0              0
  66  Cabinet         -0.331         2.249          5.505          0              180            0
  67  Drawer          -0.509         0.775          4.617          0              270            0
  68  Drawer          -3.509         0.777          5.157          0              180            0
  69  Cabinet         -3.961         0.388          2.878          0              0              0
  70  Cabinet         -3.961         0.388          4.342          0              0              0
  71  Cabinet         -0.637         0.387          5.582          0              180            0
  72  Cabinet         -0.637         0.388          4.299          0              180            0
  73  Cabinet         -0.637         0.388          5.599          0              180            0
  74  StoveBurner     -2.924         0.924          1.712          0              180            0
  75  Drawer          -1.859         0.775          1.961          0              0              0
  76  Cabinet         -0.331         2.249          5.609          0              180            0
  77  CounterTop      -4.260         0.958          4.943          0              90             0
  78  Cabinet         -4.284         1.931          2.226          0              0              0
  79  Cabinet         -0.331         2.249          3.010          0              180            0
  80  Drawer          -3.801         0.777          5.157          0              180            0
  81  Cabinet         -4.112         1.935          5.321          0              90             0
  82  Cabinet         -3.968         0.388          3.662          0              0              0
  83  Drawer          -3.418         0.777          1.961          0              0              0
  84  Drawer          -4.090         0.777          4.661          0              90             0
  85  Faucet          -4.441         0.909          3.288          270            0              0
  86  Cabinet         -0.331         2.249          4.207          0              180            0
  87  Cabinet         -3.961         0.388          2.119          0              0              0
  88  Drawer          -0.509         0.775          5.920          0              270            0
  89  Drawer          -3.193         0.777          5.157          0              180            0
  90  Cabinet         -3.968         0.388          2.894          0              0              0
  91  Cabinet         -3.667         0.387          5.029          0              90             0
  92  StoveBurner     -2.469         0.924          1.712          0              270            0
  93  Cabinet         -1.539         0.388          2.090          0              0              0
  94  Sink            -4.190         0.921          3.279          0              0              0
  95  Cabinet         -3.641         0.387          5.029          0              90             0
  96  Cabinet         -1.583         1.931          1.777          0              0              0
  97  Drawer          -0.509         0.775          6.568          0              270            0
  98  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  99  StoveKnob       -2.347         1.095          1.560          288.012        180            180
 100  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 102  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 103  GarbageCan      -3.711         -0.030         6.376          0              270            0
 104  Toaster         -3.578         0.912          1.763          0              0              0
 105  Curtains        -4.522         2.252          3.391          90             90             0
 106  Window          -4.868         1.629          3.309          90             270            0
 107  Microwave       -2.693         1.430          1.689          0              0              0
 108  LightSwitch     -1.588         1.169          1.506          0              0              0
 109  SinkBasin       -4.196         0.780          3.276          0              270            0
 110  Fridge          -0.324         -0.001         3.602          0              0              0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Turn and go to the dishwasher.  When facing the dishwasher turn to your left and face the counter. | STEP 2: Pick up the knife that is on the counter. | STEP 3: With the knife in hand turn and go to the counter to the left of the sink. | STEP 4: With the knife slice half of the potato starting on the left  that is on the counter. | STEP 5: With the knife in hand turn and go to the sink. | STEP 6: Place the knife in the sink to the right of the red apple. | STEP 7: Turn and go to the counter where the sliced potato is. | STEP 8: Pick up the second slice of potato from the left. | STEP 9: With the potato slice in hand turn and go to the sink. | STEP 10: Place the potato slice in front of the apple and to the left of the knife. | STEP 11: Pick up the knife that is to the right of the red apple in the sink. | STEP 12: With the knife in hand turn and go to the fridge. | STEP 13: Open the fridge and slice the potato on the second shelf in front of the lettuce. Start slicing from the back to the center of the potato. | STEP 14: With the knife in hand go to the sink. | STEP 15: Place the knife in the sink to the right of the red apple. | STEP 16: Turn and go to the fridge. | STEP 17: Open the fridge. Pick up a piece of slice potato that is in the middle of the potato. Shut the fridge. | STEP 18: With the potato slice in hand turn and go to the sink. | STEP 19: Place the potato slice in the sink behind the potato slice and in front of the red apple. | END