Task: Put a cold slice of potato in a sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.899          1.25           0              0              0
   1  Pencil          -0.473         0.746          4.616          0              270            0              63
   2  Pencil          -0.532         0.747          6.800          0              270            0              93
   3  Potato          -4.411         0.956          3.863          0              90             0              73
   4  Potato          -0.334         0.958          5.603          0              0              0              58
   5  Potato          -3.748         0.102          6.292          0              270            0              99
   6  DishSponge      -3.613         0.923          5.106          0              90             0              73
   7  ButterKnife     -4.132         0.755          2.590          0              0              0              53
   8  WineBottle      -0.488         0.926          4.615          0              0              0              58
   9  Pot             -4.335         0.924          5.418          0              0              0              73
  10  Pot             -2.469         0.930          1.712          0              270            0              88
  11  Fork            -4.159         0.791          3.159          0              0              0              105
  12  Fork            -1.777         0.924          1.951          0              0              0              55
  13  Spoon           -4.335         0.924          4.381          0              90             0              73
  14  Cup             -2.026         0.922          1.573          0              0              0              55
  15  Cup             -3.960         1.455          1.803          0              45             0              74
  16  Egg             -0.218         1.721          3.975          0              270            0              106
  17  Egg             -3.675         0.104          6.292          0              270            0              99
  18  Tomato          -0.401         1.127          3.355          0              270            0              106
  19  Tomato          -1.943         0.980          2.026          0              0              0              55
  20  Bowl            -4.214         1.453          1.966          0              45             0              74
  21  PepperShaker    -0.216         2.131          6.143          0              180            0              72
  22  Mug             -0.342         1.575          3.349          0              270            0              106
  23  Egg             -0.242         1.106          3.479          0              270            0              106
  24  Apple           -0.242         1.124          3.602          0              270            0              106
  25  Knife           -1.860         0.953          1.8            0              270            0              55
  26  Potato          -0.258         0.958          5.932          0              0              0              58
  27  Fork            -0.411         0.925          4.944          0              0              0              58
  28  Bowl            -2.635         1.543          1.666          0              0              0              103
  29  Plate           -4.128         0.078          4.813          0              0              0              66
  30  Lettuce         -0.295         1.165          3.850          0              270            0              106
  31  Bread           -4.234         0.990          3.985          0              0              0              73
  32  Tomato          -4.159         0.848          3.285          0              270            0              105
  33  WineBottle      -2.026         0.924          1.875          0              0              0              55
  34  Spatula         -3.852         0.938          5.412          0              90             0              73
  35  PaperTowelRoll  -1.610         1.027          2.026          0              0              0              55
  36  Cup             -0.383         1.684          3.915          0              270            0              106
  37  Pencil          -3.675         0.068          6.333          0              270            0              99
  38  Pan             -2.454         0.933          2.023          0              240.000        0              61
  39  Pot             -2.924         0.930          1.712          0              180            0              70
  40  SaltShaker      -4.381         0.919          2.533          0              0              0              73
  41  SoapBottle      -1.693         0.923          1.8            0              0              0              55
  42  PepperShaker    -4.066         0.743          4.660          0              90             0              80
  43  ButterKnife     -0.181         0.925          4.944          0              0              0              58
  44  DishSponge      -0.258         0.924          4.615          0              0              0              58
  45  Spoon           -0.181         0.926          5.273          0              0              0              58
  46  Mug             -0.409         0.955          6.557          0              270            0              94
  47  Cabinet         -3.203         1.931          1.777          0              0              0
  48  Cabinet         -3.187         0.390          2.089          0              0              0
  49  Cabinet         -0.637         0.387          6.882          0              180            0
  50  Drawer          -3.797         0.781          1.961          0              0              0
  51  Cabinet         -3.036         0.387          5.029          0              90             0
  52  Drawer          -0.509         0.775          5.268          0              270            0
  53  Drawer          -4.125         0.798          2.499          0              0              0
  54  Cabinet         -0.331         2.249          4.308          0              180            0
  55  CounterTop      -1.872         0.958          1.799          0              0              0
  56  StoveBurner     -2.924         0.924          2.012          0              0              0
  57  Cabinet         -0.331         2.249          6.806          0              180            0
  58  CounterTop      -0.345         0.960          5.603          0              0              0
  59  Cabinet         -3.039         1.935          5.321          0              90             0
  60  Cabinet         -3.922         0.397          2.088          0              0              0
  61  StoveBurner     -2.467         0.924          2.012          0              0              0
  62  Cabinet         -0.331         2.249          5.505          0              180            0
  63  Drawer          -0.509         0.775          4.617          0              270            0
  64  Drawer          -3.509         0.777          5.157          0              180            0
  65  Cabinet         -3.961         0.388          2.878          0              0              0
  66  Cabinet         -3.961         0.388          4.342          0              0              0
  67  Cabinet         -0.637         0.387          5.582          0              180            0
  68  Cabinet         -0.637         0.388          4.299          0              180            0
  69  Cabinet         -0.637         0.388          5.599          0              180            0
  70  StoveBurner     -2.924         0.924          1.712          0              180            0
  71  Drawer          -1.859         0.775          1.961          0              0              0
  72  Cabinet         -0.331         2.249          5.609          0              180            0
  73  CounterTop      -4.260         0.958          4.943          0              90             0
  74  Cabinet         -4.284         1.931          2.226          0              0              0
  75  Cabinet         -0.331         2.249          3.010          0              180            0
  76  Drawer          -3.801         0.777          5.157          0              180            0
  77  Cabinet         -4.112         1.935          5.321          0              90             0
  78  Cabinet         -3.968         0.388          3.662          0              0              0
  79  Drawer          -3.418         0.777          1.961          0              0              0
  80  Drawer          -4.090         0.777          4.661          0              90             0
  81  Faucet          -4.441         0.909          3.288          270            0              0
  82  Cabinet         -0.331         2.249          4.207          0              180            0
  83  Cabinet         -3.961         0.388          2.119          0              0              0
  84  Drawer          -0.509         0.775          5.920          0              270            0
  85  Drawer          -3.193         0.777          5.157          0              180            0
  86  Cabinet         -3.968         0.388          2.894          0              0              0
  87  Cabinet         -3.667         0.387          5.029          0              90             0
  88  StoveBurner     -2.469         0.924          1.712          0              270            0
  89  Cabinet         -1.539         0.388          2.090          0              0              0
  90  Sink            -4.190         0.921          3.279          0              0              0
  91  Cabinet         -3.641         0.387          5.029          0              90             0
  92  Cabinet         -1.583         1.931          1.777          0              0              0
  93  Drawer          -0.509         0.775          6.568          0              270            0
  94  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  95  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  96  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  97  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  98  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  99  GarbageCan      -3.711         -0.030         6.376          0              270            0
 100  Toaster         -3.578         0.912          1.763          0              0              0
 101  Curtains        -4.522         2.252          3.391          90             90             0
 102  Window          -4.868         1.629          3.309          90             270            0
 103  Microwave       -2.693         1.430          1.689          0              0              0
 104  LightSwitch     -1.588         1.169          1.506          0              0              0
 105  SinkBasin       -4.196         0.780          3.276          0              270            0
 106  Fridge          -0.324         -0.001         3.602          0              0              0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: Turn left, go forward to the door, turn right, go forward, to right after passing the fridge to face the counter. | STEP 2: Take the knife from the counter. | STEP 3: Turn right, go forward, at the fridge turn right and go forward to the sink. | STEP 4: Cut the potato on the counter to the right of the sink into slices. | STEP 5: Stay at the sink. | STEP 6: Put the knife in the sink on the right. | STEP 7: Stay at the sink. | STEP 8: Take a slice of potato from the counter to the right of the sink. | STEP 9: Turn around, go forward to the fridge. | STEP 10: Put the potato in the lower shelf of the fridge. Close then open the fridge door. Take the potato. | STEP 11: Turn around, go forward to the sink. | STEP 12: Put the potato to the right of the tomato in the sink. | END