Task: Put potatoes in the basket, slice one of them

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          0.900          -2.25          0              0              0
   1  Potato          -0.394         0.973          -1.406         0              0              0              53
   2  DishSponge      -0.321         0.941          -2.847         0              0              0              35
   3  ButterKnife     -4.039         0.760          -3.109         0              109.125        0              71
   4  Pot             -3.364         0.895          -0.376         0              270            0              72
   5  Fork            -0.315         0.941          -1.581         0              0              0              53
   6  Plate           -2.761         0.908          -0.376         0              270            0              72
   7  Plate           -0.359         1.502          -0.646         0              270            0              65
   8  SoapBottle      -1.084         0.079          -3.454         0              180            0              50
   9  SoapBottle      -3.662         0.758          -3.632         0              199.125        0              71
  10  Bowl            -2.560         0.892          -0.633         0              270            0              72
  11  Mug             -0.268         1.570          -1.937         0              180            0              67
  12  Mug             -2.514         0.972          -3.649         0              0              0              61
  13  Apple           -3.203         0.821          -3.118         0              244.125        0              71
  14  SoapBottle      -0.857         0.078          -3.409         0              45             0              49
  15  Pot             -0.222         0.961          -1.845         0              180            0              37
  16  Fork            -3.565         0.895          -0.462         0              270            0              72
  17  Cup             -0.135         1.503          -3.140         0              0              0              52
  18  Tomato          -0.293         1.337          -0.994         0              270            0              65
  19  Pan             -3.204         0.758          -3.531         0              109.125        0              71
  20  Plate           -0.509         0.094          -2.737         0              0              0              48
  21  Bread           -4.122         0.772          -0.369         0              0              0              70
  22  Spatula         -4.002         0.706          -0.308         0              90             0              70
  23  Knife           -4.062         0.716          -0.369         0              180            0              70
  24  SaltShaker      -0.579         0.078          -1.529         0              0              0              51
  25  PepperShaker    -3.696         0.756          -2.966         0              199.125        0              71
  26  ButterKnife     -1.694         0.942          -3.673         0              90             0              35
  27  Apple           -2.387         0.161          -3.538         0              0              0              60
  28  DishSponge      -1.123         0.752          -3.505         0              0              0              41
  29  Potato          -0.334         1.318          -0.646         0              270            0              65
  30  Egg             -3.121         0.801          -3.286         0              244.125        0              71
  31  Spoon           -3.230         0.761          -3.061         0              64.125         0              71
  32  Lettuce         -0.321         1.579          -0.878         0              270            0              65
  33  Mug             -0.202         1.933          -1.950         0              0              0              44
  34  Bowl            -0.213         1.940          -0.713         0              0              0              42
  35  CounterTop      -1.937         0.977          -3.673         0              0              0
  36  StoveBurner     -0.437         0.924          -1.845         0              180            0
  37  StoveBurner     -0.222         0.924          -1.845         0              180            0
  38  StoveBurner     -0.437         0.924          -2.243         0              0              0
  39  Drawer          -0.500         0.779          -1.450         0              0              0
  40  Drawer          -0.481         0.777          -2.739         0              0              0
  41  Drawer          -1.154         0.782          -3.499         0              0              0
  42  Cabinet         -0.337         2.110          -0.390         0              0              0
  43  Cabinet         -0.337         2.110          -1.272         0              0              0
  44  Cabinet         -0.337         2.110          -1.631         0              0              0
  45  Cabinet         -0.337         2.110          -2.497         0              0              0
  46  Cabinet         -0.337         1.891          -1.286         0              0              0
  47  Cabinet         -0.346         1.891          -3.293         0              0              0
  48  Cabinet         -0.629         0.388          -2.513         0              0              0
  49  Cabinet         -0.633         0.388          -3.008         0              0              0
  50  Cabinet         -1.010         0.388          -3.368         0              0              0
  51  Cabinet         -0.629         0.388          -1.614         0              0              0
  52  Cabinet         -0.327         1.886          -2.513         0              0              0
  53  CounterTop      -0.326         0.976          -1.450         0              0              0
  54  StoveBurner     -0.222         0.924          -2.243         0              0              0
  55  Sink            -0.600         0.929          -3.388         0              0              0
  56  StoveKnob       -0.617         0.899          -1.833         315            90             180
  57  StoveKnob       -0.617         0.899          -2.129         315            90             180
  58  StoveKnob       -0.617         0.899          -2.289         315            90             180
  59  StoveKnob       -0.617         0.899          -1.975         315            90             180
  60  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  61  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  62  Window          -1.389         1.610          -4.113         90             0              0
  63  LightSwitch     -4.372         1.493          -1.031         0              90             0
  64  SinkBasin       -0.614         0.802          -3.384         0              315            0
  65  Fridge          -0.314         0.0            -0.646         0              0              0
  66  Toaster         -1.970         0.930          -3.763         0              0              0
  67  Microwave       -0.216         1.470          -2.054         0              270            0
  68  Blinds          -1.373         2.205          -3.961         0              0              0
  69  Faucet          -0.393         0.930          -3.614         270            225            0
  70  SideTable       -4.030         0.002          -0.301         0              185.034        0
  71  DiningTable     -3.586         0.000          -3.258         0              0              0
  72  DiningTable     -3.224         -0.003         -0.453         0              0              0
  73  Shelf           -4.030         0.259          -0.301         0              185.034        0
  74  Shelf           -4.030         0.489          -0.301         0              185.034        0
  75  EastWall
  76  EastWall
  77  SouthWall

Plan:
STEP 1: Go forward, turn right after the stove, go to the counter | STEP 2: Pick up the potato on the counter | STEP 3: Turn around, go forward, turn left, go to the coffee maker | STEP 4: Put the potato into the basket under the coffee maker | STEP 5: Turn left, go forward a bit, turn right, go forward, turn right at the fridge | STEP 6: Pick up the potato in the fridge | STEP 7: Turn around, go forward, turn left, go to the coffee maker | STEP 8: Put the potato into the basket under the coffee maker | STEP 9: Turn left,  go forward a bit, turn right to face the counter | STEP 10: Pick up the knife on the counter | STEP 11: Turn right,  go forward a bit, turn left to face the coffee maker | STEP 12: Slice the potato in the basket | END