Task: Put one chilled potato slice onto a 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           -1.75          0.869          -2.5           0              180            0
   1  Potato          -1.578         0.733          -3.361         0              0              0              68
   2  Potato          -0.855         0.933          1.272          0              270            0              67
   3  DishSponge      -0.855         0.900          0.758          0              270            0              67
   4  ButterKnife     0.729          0.883          0.098          0              0              0              41
   5  Spatula         0.901          0.679          0.630          0              0              0              46
   6  Spoon           -0.855         0.901          1.101          0              270            0              67
   7  Spoon           -0.051         0.901          1.101          0              270            0              67
   8  Cup             0.729          0.882          -0.314         0              0              0              41
   9  Plate           -1.056         0.904          0.929          0              270            0              67
  10  Tomato          0.708          0.713          -1.958         0              270            0              61
  11  Tomato          0.824          1.207          -2.113         0              270            0              61
  12  SoapBottle      -1.719         0.701          -1.416         0              0              0              77
  13  Bowl            0.949          1.462          0.473          0              0              0              53
  14  Bowl            0.149          0.899          1.187          0              270            0              67
  15  Lettuce         0.757          0.859          -0.790         0              270            0              64
  16  Lettuce         0.661          0.752          0.448          0              0              0              46
  17  Mug             0.708          0.460          -2.035         0              270            0              61
  18  Apple           -0.252         0.954          0.843          0              270            0              67
  19  Pot             -2.071         0.927          0.772          0              266.284        0              43
  20  Plate           0.676          0.019          -0.119         0              0              0              51
  21  Fork            -1.970         0.702          -0.875         0              0              0              77
  22  SoapBottle      -1.970         0.701          -1.199         0              0              0              77
  23  Apple           0.877          0.937          -0.314         0              0              0              41
  24  Pan             -1.552         0.930          0.785          0              0              0              45
  25  Egg             -0.252         0.937          1.101          0              270            0              67
  26  Spatula         -0.051         0.915          1.272          0              0              0              67
  27  Potato          0.961          0.698          0.569          0              0              0              46
  28  Cup             0.901          0.663          0.448          0              0              0              46
  29  SaltShaker      0.781          0.660          0.508          0              0              0              46
  30  PepperShaker    0.812          1.460          0.039          0              0              0              52
  31  ButterKnife     -2.054         0.701          -1.524         0              0              0              77
  32  DishSponge      -1.056         0.900          1.187          0              270            0              67
  33  Bread           -1.719         0.745          -1.199         0              0              0              77
  34  Lettuce         0.708          0.751          -2.113         0              270            0              61
  35  Tomato          0.708          0.514          -1.802         0              270            0              61
  36  Spoon           0.799          0.773          -0.680         0              270            0              64
  37  Knife           0.817          0.782          0.002          0              270            0              40
  38  Mug             0.785          0.660          -1.725         0              270            0              61
  39  Bowl            0.949          1.462          -0.207         0              0              0              52
  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 left slightly more than 90 degrees and go to the counter to the left of the sink, which is left of the fridge. | STEP 2: Pick up the knife from off of the counter, that is near the edge just to the right of the black table. | STEP 3: Move slightly left to face the black table. | STEP 4: Slice half of the potato that is at the back of the table, just left of the black glass. | STEP 5: Move slightly right to face the counter next to the sink. | STEP 6: Place the knife on the counter just to the left of the black glass. | STEP 7: Move slightly left to face the black table. | STEP 8: Pick up one slice of potato that is next to the black glass. | STEP 9: Turn right and walk past the sink to the fridge.  Face the fridge. | STEP 10: Open the bottom door of the fridge, put the potato slice on the middle shelf to the left of the white cup, and close the door.  Wait a few seconds, then open the door, take out the potato slice, and shut the door. | STEP 11: Turn left and walk past the sink to the black table.  Face the black table. | STEP 12: Put the potato slice on the front right corner of the black table. | END