Task: Slice two potatoes, put two slices and the knife 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           -2.25          0.899          5.25           0              270            0
   1  Pencil          -3.340         0.923          1.799          0              0              0              70
   2  Pencil          -1.943         0.923          1.951          0              0              0              68
   3  Potato          -4.458         0.956          3.548          0              0              0              70
   4  Potato          -0.259         1.719          3.915          0              270            0              103
   5  ButterKnife     -4.033         0.923          4.381          0              90             0              70
   6  Spoon           -1.777         0.924          2.026          0              0              0              52
   7  Spoon           -3.374         0.924          5.336          0              180            0              70
   8  Spatula         -3.733         0.938          5.566          0              180            0              70
   9  Egg             -4.121         0.826          3.097          0              270            0              102
  10  Knife           -0.411         0.954          4.615          0              0              0              55
  11  SoapBottle      -2.109         0.923          1.573          0              0              0              52
  12  SoapBottle      -3.712         0.068          6.292          0              270            0              96
  13  Tomato          -3.712         0.125          6.416          0              270            0              96
  14  Tomato          -0.258         0.982          5.273          0              0              0              55
  15  Bowl            -1.693         0.920          1.648          0              0              0              52
  16  SaltShaker      -1.610         0.919          1.8            0              0              0              52
  17  SaltShaker      -3.264         0.741          5.221          0              180            0              82
  18  PepperShaker    -0.532         0.742          6.645          0              270            0              81
  19  Mug             -4.242         0.918          2.183          0              0              0              70
  20  Egg             -2.530         1.582          1.698          0              0              0              100
  21  Apple           -0.104         0.978          5.603          0              0              0              55
  22  Knife           -4.108         0.953          5.159          0              270            0              70
  23  Potato          -0.104         0.958          4.944          0              0              0              55
  24  Fork            -0.258         0.925          5.932          0              0              0              55
  25  Bowl            -0.401         1.067          3.726          0              270            0              103
  26  Plate           -4.335         0.924          5.418          0              90             0              70
  27  Lettuce         -0.488         1.020          5.603          0              0              0              55
  28  Bread           -4.242         1.003          2.533          0              0              0              70
  29  Tomato          -0.301         1.742          3.733          0              270            0              103
  30  WineBottle      -2.026         0.924          1.8            0              0              0              52
  31  Spatula         -0.181         0.940          4.615          0              90             0              55
  32  PaperTowelRoll  -4.312         1.027          2.300          0              90             0              70
  33  Cup             -3.982         1.455          1.780          0              45             0              71
  34  Pencil          -1.943         0.923          1.724          0              0              0              68
  35  Pan             -2.924         0.930          2.012          0              0              0              53
  36  Pot             -2.924         0.930          1.712          0              180            0              67
  37  SaltShaker      -3.925         1.455          5.365          0              90             0              74
  38  SoapBottle      -4.167         0.077          4.584          0              0              0              63
  39  PepperShaker    -0.488         0.921          5.273          0              0              0              49
  40  ButterKnife     -4.335         0.923          4.381          0              90             0              70
  41  DishSponge      -0.216         2.134          6.143          0              180            0              69
  42  Spoon           -4.196         0.792          3.410          0              270            0              102
  43  Mug             -4.271         0.785          3.159          0              270            0              102
  44  Cabinet         -3.203         1.931          1.777          0              0              0
  45  Cabinet         -3.187         0.390          2.089          0              0              0
  46  Cabinet         -0.637         0.387          6.882          0              180            0
  47  Drawer          -3.797         0.781          1.961          0              0              0
  48  Cabinet         -3.036         0.387          5.029          0              90             0
  49  Drawer          -0.509         0.775          5.268          0              270            0
  50  Drawer          -4.125         0.798          2.499          0              0              0
  51  Cabinet         -0.331         2.249          4.308          0              180            0
  52  CounterTop      -1.872         0.958          1.799          0              0              0
  53  StoveBurner     -2.924         0.924          2.012          0              0              0
  54  Cabinet         -0.331         2.249          6.806          0              180            0
  55  CounterTop      -0.345         0.960          5.603          0              0              0
  56  Cabinet         -3.039         1.935          5.321          0              90             0
  57  Cabinet         -3.922         0.397          2.088          0              0              0
  58  StoveBurner     -2.467         0.924          2.012          0              0              0
  59  Cabinet         -0.331         2.249          5.505          0              180            0
  60  Drawer          -0.509         0.775          4.617          0              270            0
  61  Drawer          -3.509         0.777          5.157          0              180            0
  62  Cabinet         -3.961         0.388          2.878          0              0              0
  63  Cabinet         -3.961         0.388          4.342          0              0              0
  64  Cabinet         -0.637         0.387          5.582          0              180            0
  65  Cabinet         -0.637         0.388          4.299          0              180            0
  66  Cabinet         -0.637         0.388          5.599          0              180            0
  67  StoveBurner     -2.924         0.924          1.712          0              180            0
  68  Drawer          -1.859         0.775          1.961          0              0              0
  69  Cabinet         -0.331         2.249          5.609          0              180            0
  70  CounterTop      -4.260         0.958          4.943          0              90             0
  71  Cabinet         -4.284         1.931          2.226          0              0              0
  72  Cabinet         -0.331         2.249          3.010          0              180            0
  73  Drawer          -3.801         0.777          5.157          0              180            0
  74  Cabinet         -4.112         1.935          5.321          0              90             0
  75  Cabinet         -3.968         0.388          3.662          0              0              0
  76  Drawer          -3.418         0.777          1.961          0              0              0
  77  Drawer          -4.090         0.777          4.661          0              90             0
  78  Faucet          -4.441         0.909          3.288          270            0              0
  79  Cabinet         -0.331         2.249          4.207          0              180            0
  80  Cabinet         -3.961         0.388          2.119          0              0              0
  81  Drawer          -0.509         0.775          5.920          0              270            0
  82  Drawer          -3.193         0.777          5.157          0              180            0
  83  Cabinet         -3.968         0.388          2.894          0              0              0
  84  Cabinet         -3.667         0.387          5.029          0              90             0
  85  StoveBurner     -2.469         0.924          1.712          0              270            0
  86  Cabinet         -1.539         0.388          2.090          0              0              0
  87  Sink            -4.190         0.921          3.279          0              0              0
  88  Cabinet         -3.641         0.387          5.029          0              90             0
  89  Cabinet         -1.583         1.931          1.777          0              0              0
  90  Drawer          -0.509         0.775          6.568          0              270            0
  91  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  92  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  93  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  96  GarbageCan      -3.711         -0.030         6.376          0              270            0
  97  Toaster         -3.578         0.912          1.763          0              0              0
  98  Curtains        -4.522         2.252          3.391          90             90             0
  99  Window          -4.868         1.629          3.309          90             270            0
 100  Microwave       -2.693         1.430          1.689          0              0              0
 101  LightSwitch     -1.588         1.169          1.506          0              0              0
 102  SinkBasin       -4.196         0.780          3.276          0              270            0
 103  Fridge          -0.324         -0.001         3.602          0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn around and walk to the counter to the left of the fridge. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Move slightly to your left at the counter. | STEP 4: Slice the potato at the back edge of the counter. | STEP 5: Turn around and walk to the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk to the counter to the left of the fridge. | STEP 8: Pick up the center slice of the potato | STEP 9: Turn around and walk to the sink. | STEP 10: Place the potato slice in the sink to the left of the knife. | STEP 11: Pick up the knife from the sink. | STEP 12: Locate the potato on the back of the counter to the right of the sink. | STEP 13: Slice the potato at the back of the counter. | STEP 14: Look toward the sink. | STEP 15: Place the knife in the sink to the right of the potato slice. | STEP 16: Go the potato at the back of the counter to the right of the sink. | STEP 17: Pick up a potato slice. | STEP 18: Look to the sink. | STEP 19: Place the potato slice to the left of the first slice. | END