Task: Place a cooked potato slice on the counter top

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           0.900          2.75           0              270            0
   1  Pan             2.116          1.027          -1.84          0              270            0              54
   2  Potato          2.258          0.806          3.858          0              329.999        0              51
   3  Potato          -1.059         1.484          -0.184         0              90             0              94
   4  Ladle           -0.782         0.855          1.181          0              90             0              107
   5  DishSponge      2.762          0.800          -1.040         0              0              0              58
   6  ButterKnife     2.086          0.764          3.815          0              225            0              51
   7  ButterKnife     2.705          0.800          -0.653         0              90             0              50
   8  WineBottle      2.503          0.765          3.917          0              225            0              51
   9  WineBottle      2.525          0.765          3.445          0              0              0              51
  10  Glassbottle     2.975          0.765          4.118          0              270            0              51
  11  Spatula         1.529          1.041          -1.774         0              90             0              50
  12  Fork            2.818          0.802          0.210          0              0              0              61
  13  Fork            2.710          0.765          4.229          0              225            0              51
  14  Knife           -0.645         0.841          1.570          0              0              0              107
  15  Bowl            2.423          0.762          4.166          0              329.999        0              51
  16  SaltShaker      -0.542         0.044          2.367          0              0              0              56
  17  PepperShaker    1.230          1.023          -1.667         0              90             0              50
  18  Bread           2.304          0.832          4.521          0              329.999        0              51
  19  Mug             1.895          1.856          -1.809         0              0              0              96
  20  Mug             1.533          1.021          1.606          0              136.999        0              50
  21  Apple           2.331          0.814          4.325          0              329.999        0              51
  22  Pan             2.875          1.026          0.068          0              0              0              50
  23  Glassbottle     -0.968         1.442          -0.627         0              90             0              94
  24  Knife           -0.669         1.052          0.785          0              180            0              53
  25  SoapBottle      2.376          0.763          3.445          0              0              0              51
  26  Egg             -1.038         0.121          2.811          0              0              0              105
  27  Fork            1.170          1.027          -1.881         0              90             0              50
  28  Potato          3.043          1.068          -1.151         0              0              0              50
  29  Ladle           -0.852         2.329          -0.029         0              0              0              81
  30  Tomato          -0.669         1.081          2.556          0              0              0              53
  31  Pot             1.334          0.023          -1.670         0              270            0              69
  32  WineBottle      2.893          0.033          -0.638         0              0              0              91
  33  Plate           2.859          1.027          1.447          0              136.999        0              50
  34  Spatula         1.290          1.041          -1.881         0              180            0              50
  35  PaperTowelRoll  -1.130         1.131          1.243          0              0              0              53
  36  Lettuce         -0.577         0.874          1.337          0              0              0              107
  37  Apple           -0.577         0.866          1.492          0              90             0              107
  38  SaltShaker      2.410          1.023          -1.881         0              90             0              50
  39  PepperShaker    -0.920         1.023          1.821          0              0              0              53
  40  ButterKnife     1.925          0.764          4.044          0              270            0              51
  41  Bread           2.976          0.832          3.821          0              270            0              51
  42  Cup             2.451          0.763          3.747          0              270            0              51
  43  DishSponge      -0.762         2.289          -0.676         0              0              0              82
  44  Bowl            2.634          0.762          3.651          0              329.999        0              51
  45  Spoon           -0.714         0.817          1.181          0              90             0              107
  46  Mug             -1.028         0.781          -0.073         0              90             0              94
  47  Sink            -0.716         1.023          1.333          0              0              0
  48  StoveBurner     1.835          1.018          -1.840         0              90             0
  49  StoveBurner     2.177          1.018          -1.599         0              0              0
  50  CounterTop      2.812          0.992          0.675          0              0              0
  51  DiningTable     2.419          0.003          3.930          0              0              0
  52  Drawer          -0.643         0.828          0.616          0              0              0
  53  CounterTop      -0.813         1.062          2.188          0              0              0
  54  StoveBurner     2.115          1.018          -1.840         0              270            0
  55  Drawer          -0.643         0.831          1.953          0              0              0
  56  Drawer          -0.643         0.833          2.418          0              0              0
  57  Drawer          1.347          0.836          -1.539         0              0              0
  58  Drawer          2.693          0.833          -1.131         0              0              0
  59  Drawer          2.693          0.833          -0.699         0              0              0
  60  Drawer          2.693          0.833          -0.267         0              0              0
  61  Drawer          2.693          0.833          0.163          0              0              0
  62  Drawer          2.524          0.833          0.720          0              2.000          0
  63  Drawer          2.232          0.833          1.036          0              2.000          0
  64  Drawer          1.936          0.833          1.354          0              2.000          0
  65  Drawer          1.646          0.833          1.670          0              2.000          0
  66  Cabinet         1.504          2.475          -1.710         0              0              0
  67  Cabinet         -0.823         2.220          1.621          0              0              0
  68  Cabinet         -0.823         2.220          0.615          0              0              0
  69  Cabinet         1.136          0.388          -1.355         0              0              0
  70  Cabinet         -0.356         0.383          2.626          0              0              0
  71  Cabinet         2.745          2.220          -1.690         0              0              0
  72  Cabinet         1.882          0.383          1.017          0              0              0
  73  Cabinet         1.307          0.473          1.640          0              0              0
  74  Cabinet         1.892          0.383          1.006          0              0              0
  75  Cabinet         2.467          0.383          0.383          0              0              0
  76  Cabinet         2.466          0.383          -0.475         0              0              0
  77  Cabinet         2.466          0.473          0.371          0              0              0
  78  Cabinet         2.386          2.475          -1.710         0              0              0
  79  Cabinet         -0.356         0.383          1.712          0              0              0
  80  Cabinet         2.745          2.220          0.019          0              0              0
  81  Cabinet         -0.663         2.496          0.157          0              0              0
  82  Cabinet         -0.663         2.496          -0.868         0              0              0
  83  Cabinet         -0.356         0.383          0.269          0              0              0
  84  Cabinet         -0.823         2.220          1.603          0              0              0
  85  Cabinet         -0.662         2.234          0.586          0              0              0
  86  Cabinet         2.745          2.220          -0.843         0              0              0
  87  Cabinet         2.745          2.220          -0.827         0              0              0
  88  Cabinet         -0.823         2.220          2.608          0              0              0
  89  Cabinet         2.732          2.226          -1.709         0              0              0
  90  Cabinet         1.137          2.226          -1.709         0              0              0
  91  Cabinet         2.466          0.383          -0.491         0              0              0
  92  Cabinet         2.466          0.383          -1.339         0              0              0
  93  StoveBurner     1.761          1.018          -1.599         0              0              0
  94  Fridge          -0.908         0.0            -0.405         0              0              0
  95  HousePlant      2.517          1.016          1.822          0              0              0
  96  Microwave       1.939          1.745          -1.826         0              0              0
  97  StoveKnob       2.017          1.041          -1.514         0              180            180
  98  StoveKnob       1.934          1.041          -1.514         0              180            180
  99  StoveKnob       2.017          1.041          -1.589         0              180            180
 100  StoveKnob       1.934          1.041          -1.589         0              180            180
 101  Window          1.756          1.608          4.762          90             0              0
 102  HousePlant      2.171          1.004          2.091          0              0              0
 103  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 104  LightSwitch     -0.099         1.410          -2.066         0              0              0
 105  GarbageCan      -0.951         -0.029         2.826          0              0              0
 106  Toaster         -1.007         1.018          2.238          0              90             0
 107  SinkBasin       -0.714         0.805          1.348          0              90             0
 108  Chair           1.615          0.004          4.310          0              107.976        0
 109  Faucet          -1.120         1.013          1.334          0              90             0
 110  Chair           2.759          0.004          3.086          0              358.967        0
 111
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: turn to the left and go to the other end of the counter top and turn to the right and go to the counter top | STEP 2: take the yellow handle knife from the counter top | STEP 3: turn to the left and go past the refrigerator and turn to the left and go to the counter | STEP 4: with the knife slice up the potato on the counter top | STEP 5: turn to the left and go to the counter and turn to the left and take a few steps and turn to the right and take a few steps and turn to the left and go to the counter | STEP 6: put the knife on the counter top | STEP 7: turn to the left and go past the refrigerator and turn to the left and go to the counter | STEP 8: pick up a potato slice from the counter top | STEP 9: turn to the right twice and take a step and turn to the left facing the microwave | STEP 10: put the potato slice in the microwave and cook it and when finish cooking take out the potato slice from the microwave | STEP 11: turn to the right and take a few steps and turn to the right and go to the end of the counter and turn to the left and go to the counter top | STEP 12: put the potato slice on the counter top | END