Task: To wash a piece 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           -0.5           0.900          2.25           0              90             0
   1  Potato          0.725          0.866          2.198          0              0              0              56
   2  Potato          -1.538         1.402          3.967          0              180            0              80
   3  DishSponge      0.875          0.822          2.198          0              0              0              56
   4  DishSponge      -0.657         0.900          1.040          0              90             0              92
   5  Pot             0.913          0.850          1.375          0              0              0              50
   6  Spatula         -1.185         0.915          1.349          0              180            0              92
   7  Spatula         0.950          0.838          0.984          0              180            0              51
   8  Spoon           -1.909         0.698          3.774          0              90             0              86
   9  Fork            0.839          0.692          2.163          0              90             0              45
  10  SoapBottle      1.024          0.822          2.285          0              0              0              56
  11  SoapBottle      -2.136         1.398          3.858          0              0              0              52
  12  Tomato          -1.317         0.969          0.937          0              90             0              92
  13  Bowl            -2.580         1.847          1.562          0              0              0              69
  14  Bowl            -2.824         1.396          3.858          0              0              0              65
  15  PepperShaker    0.820          0.122          2.277          0              0              0              66
  16  PepperShaker    1.024          0.819          2.458          0              0              0              56
  17  SaltShaker      -1.317         0.896          1.349          0              90             0              92
  18  Lettuce         -2.577         1.071          2.333          0              90             0              83
  19  Lettuce         -1.185         0.976          1.555          0              90             0              92
  20  Mug             -1.317         0.895          1.246          0              180            0              92
  21  Apple           0.931          0.085          2.918          0              0              0              85
  22  Apple           -2.636         0.828          2.277          0              90             0              83
  23  Plate           0.859          0.813          0.975          0              0              0              51
  24  Fork            0.725          0.822          1.028          0              0              3.080          51
  25  Bread           0.827          0.861          2.449          0              0              0              51
  26  Spatula         -0.524         0.915          1.040          0              90             0              92
  27  PaperTowelRoll  -0.789         1.004          1.452          0              90             0              92
  28  Potato          -1.053         0.943          1.452          0              90             0              92
  29  SoapBottle      -1.343         0.127          3.713          0              0              0              71
  30  Egg             1.099          0.859          2.198          0              0              0              56
  31  Cup             -1.204         1.683          3.936          0              0              0              79
  32  Pot             0.913          0.850          1.768          0              0              0              72
  33  SaltShaker      -1.317         0.896          1.452          0              90             0              92
  34  Pan             -2.667         0.812          3.74           0              137.145        0              74
  35  PepperShaker    -1.717         0.124          3.790          0              0              0              73
  36  ButterKnife     -2.779         0.823          3.479          0              0              0              74
  37  Tomato          -0.524         0.969          1.555          0              90             0              92
  38  DishSponge      0.781          0.125          0.942          0              0              0              53
  39  Lettuce         -0.580         0.956          1.358          31.822         0              0              92
  40  Spoon           -1.317         0.901          1.040          0              0              0              92
  41  Apple           -2.577         0.828          2.389          0              90             0              83
  42  Knife           -1.336         0.846          3.556          0              0              0              74
  43  Mug             -1.109         0.940          1.203          0              0              0              92
  44  Bowl            -1.411         1.681          3.858          0              90             0              79
  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: Turn left and walk across the room to face the right side of the sink. | STEP 2: Pick up the knife on the edge of the sink. | STEP 3: Take a step to the left and look up 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 back and look up to face the microwave. | STEP 8: Pick up a slice of potato from in 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 piece of potato on the edge of the white table. | END