Task: Put a clean slice of potato on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          -0.75          0              180            0
   1  Pan             2.650          0.034          0.119          0              270            0              76
   2  Potato          2.348          0.806          3.552          0              225            0              51
   3  DishSponge      2.191          0.764          3.710          0              225            0              51
   4  ButterKnife     2.294          0.764          4.091          0              329.999        0              51
   5  Glassbottle     -0.544         1.028          0.416          0              0              0              53
   6  Pot             2.177          1.027          -1.599         0              0              0              49
   7  Spatula         2.064          0.816          0.945          0              227.0          0              63
   8  Fork            -1.215         1.028          1.150          0              90             0              53
   9  Fork            -0.669         1.028          0.877          0              180            0              53
  10  Cup             -1.159         1.026          1.612          0              0              0              53
  11  Cup             2.451          0.763          3.445          0              0              0              51
  12  Knife           2.113          0.789          3.527          0              225            0              51
  13  Tomato          -0.906         0.839          -0.184         0              90             0              94
  14  Bowl            2.790          1.025          -0.541         0              0              0              50
  15  SaltShaker      2.762          0.799          -1.270         0              0              0              58
  16  PepperShaker    -1.102         1.023          1.243          0              0              0              53
  17  PepperShaker    1.592          0.797          1.558          0              317.0          0              65
  18  Lettuce         -0.987         0.844          -0.406         0              90             0              94
  19  Mug             -0.803         1.070          0.646          0              90             0              103
  20  Mug             2.597          0.759          3.418          0              329.999        0              51
  21  Apple           -0.714         0.866          1.181          0              90             0              107
  22  Pan             2.042          1.017          1.779          0              0              0              50
  23  Glassbottle     2.626          0.765          3.895          0              270            0              51
  24  Knife           -0.714         0.849          1.337          0              90             0              107
  25  SoapBottle      2.976          0.763          4.044          0              270            0              51
  26  Egg             -0.782         0.860          1.259          0              90             0              107
  27  Fork            2.840          0.765          4.359          0              225            0              51
  28  Potato          2.726          0.806          3.492          0              329.999        0              51
  29  Ladle           -0.590         0.839          0.696          0              180            0              52
  30  Tomato          -0.794         1.081          0.323          0              0              0              53
  31  Pot             1.761          1.027          -1.599         0              0              0              93
  32  WineBottle      1.903          0.765          3.737          0              225            0              51
  33  Plate           -0.922         1.442          -0.627         0              90             0              94
  34  Spatula         -0.661         0.817          0.373          0              90             0              52
  35  PaperTowelRoll  -0.875         0.181          2.779          0              0              0              105
  36  Lettuce         2.451          0.822          4.145          0              0              0              51
  37  Apple           -0.809         0.379          -0.738         0              90             0              94
  38  SaltShaker      -0.920         1.023          2.556          0              0              0              53
  39  PepperShaker    2.506          0.760          3.577          0              329.999        0              51
  40  ButterKnife     2.818          0.800          -0.653         0              90             0              50
  41  Bread           2.790          1.094          -0.236         0              0              0              50
  42  Cup             -0.794         1.026          0.877          0              0              0              53
  43  DishSponge      1.913          0.801          1.207          0              317.0          0              64
  44  Bowl            -1.028         0.784          -0.627         0              90             0              94
  45  Spoon           2.761          0.801          -0.699         0              0              0              50
  46  Mug             -0.669         1.022          1.943          0              0              0              53
  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 around, go across the room, turn right to go around the counter and turn left towards the table. | STEP 2: Pick up the knife behind the sponge on the table. | STEP 3: Look down at the potato on the table. | STEP 4: Cut the potato on the table. | STEP 5: Turn left, go across the room, turn left and head to the sink on the right. | STEP 6: Put the knife in the sink. | STEP 7: Turn around and head back to the table. | STEP 8: Pick up a slice of potato on the table. | STEP 9: Turn left, go across the room, turn left and head to the sink on the right. | STEP 10: Put the slice of potato in the sink, rinse it off and pick it back up. | STEP 11: Turn around and head back to the table. | STEP 12: Put the slice of potato on the table in front of the cut potato. | END