Task: slice a potato and place it in a pot for cooking preparation

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          -0.5           0              270            0
   1  Vase            1.478          0.550          -2.562         0              180            0              81
   2  Plate           -2.026         1.306          0.925          0              90             0              84
   3  SoapBottle      -1.855         0.137          -1.623         0              90             0              52
   4  SaltShaker      -0.473         1.107          0.251          0              0              0              51
   5  SaltShaker      0.783          1.657          -2.636         0              0              0              73
   6  PepperShaker    -1.651         0.474          -0.196         0              90             0              66
   7  PepperShaker    -1.694         0.474          -0.293         0              90             0              66
   8  Bread           -0.335         1.184          0.757          0              0              0              51
   9  Spoon           -1.963         0.770          -1.414         0              90             0              86
  10  Spoon           0.324          0.911          -2.253         0              0              0              53
  11  Pot             0.969          0.914          -2.560         0              0              0              53
  12  Pot             -0.036         0.950          -2.372         0              270            0              46
  13  Pot             -0.465         0.950          -2.372         0              90             0              49
  14  Kettle          -0.848         0.912          -2.560         0              0              0              76
  15  Kettle          0.217          1.112          -0.253         0              0              0              51
  16  Book            1.893          0.552          -2.562         0              180            0              53
  17  Glassbottle     1.686          0.881          -2.536         0              180            0              78
  18  Knife           1.098          0.936          -2.484         0              90             0              53
  19  Bread           0.217          1.184          0.251          0              0              0              51
  20  Fork            0.582          0.911          -2.407         0              0              0              53
  21  Potato          0.355          1.142          -0.001         0              0              0              51
  22  SoapBottle      -1.765         0.130          0.112          0              90             0              57
  23  Kettle          0.450          0.141          -2.387         0              0              0              68
  24  Pan             0.721          0.9            -2.415         0              0              0              53
  25  Plate           -0.912         0.133          -2.352         0              0              0              69
  26  Tomato          -1.907         0.087          1.933          0              270            0              82
  27  Vase            0.355          1.113          -0.506         0              0              0              51
  28  Egg             -0.225         1.825          -2.546         0              0              0              77
  29  CreditCard      -1.696         0.151          -0.149         0              90             0              74
  30  Statue          -0.059         1.110          0.757          0              0              0              51
  31  WineBottle      -1.907         0.048          2.124          0              270            0              82
  32  Pot             -0.197         1.115          -0.001         0              0              0              51
  33  Spatula         -0.197         1.126          -0.759         0              0              0              51
  34  PaperTowelRoll  0.453          1.014          -2.253         0              90             0              53
  35  Cup             1.063          1.658          -2.673         0              0              0              73
  36  Vase            -0.840         1.653          -2.604         0              0              0              65
  37  Bowl            -0.473         1.108          -0.506         0              0              0              51
  38  SaltShaker      1.789          0.877          -2.563         0              180            0              78
  39  PepperShaker    -1.805         0.132          -1.740         0              90             0              52
  40  Lettuce         -1.438         0.991          -2.637         0              0              0              76
  41  ButterKnife     -1.852         0.769          -1.587         0              90             0              86
  42  Apple           -2.038         0.591          1.251          0              90             0              84
  43  DishSponge      -1.864         0.129          0.294          0              90             0              57
  44  Spoon           0.950          0.143          -2.431         0              0              0              71
  45  Mug             -1.797         0.764          -1.242         0              270            0              86
  46  StoveBurner     -0.036         0.915          -2.372         0              0              0
  47  Drawer          0.949          0.832          -2.197         0              0              0
  48  Drawer          -1.560         0.839          0.204          0              90             0
  49  StoveBurner     -0.465         0.915          -2.371         0              180            0
  50  Drawer          -1.560         0.839          -0.197         0              90             0
  51  CounterTop      -0.079         1.147          -0.001         0              0              0
  52  Cabinet         -1.549         0.494          -1.964         0              90             0
  53  CounterTop      0.693          0.946          -2.483         0              0              0
  54  StoveBurner     -0.036         0.915          -2.576         0              0              0
  55  Drawer          0.949          0.393          -2.200         0              0              0
  56  Drawer          0.949          0.708          -2.200         0              0              0
  57  Cabinet         -1.549         0.494          0.379          0              90             0
  58  StoveKnob       -0.022         0.881          -2.187         45             0              0
  59  Drawer          0.949          0.560          -2.201         0              0              0
  60  StoveBurner     -0.465         0.915          -2.575         0              180            0
  61  Window          -2.230         1.429          -1.203         0              0              0
  62  StoveKnob       -0.483         0.881          -2.187         45             0              0
  63  Sink            -1.899         0.964          -1.5           0              90             0
  64  StoveKnob       -0.328         0.881          -2.187         45             0              0
  65  Cabinet         -0.727         2.015          -2.460         0              0              0
  66  Drawer          -1.560         0.655          -0.196         0              90             0
  67  Cabinet         -1.685         2.015          -2.461         0              0              0
  68  Cabinet         0.680          0.494          -2.200         0              0              0
  69  Cabinet         -1.179         0.494          -2.200         0              0              0
  70  Cabinet         -1.849         2.015          0.379          0              90             0
  71  Drawer          0.949          0.221          -2.200         0              0              0
  72  StoveKnob       -0.183         0.881          -2.187         45             0              0
  73  Cabinet         0.719          2.015          -2.460         0              0              0
  74  Drawer          -1.560         0.331          -0.196         0              90             0
  75  Cabinet         0.680          2.015          -2.460         0              0              0
  76  CounterTop      -1.868         0.946          -1.205         0              0              0
  77  Microwave       -0.236         1.689          -2.525         0              0              0
  78  Shelf           1.751          0.880          -2.560         0              0              0
  79  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  80  Toaster         -1.835         0.900          0.134          0              90             0
  81  Shelf           1.750          0.552          -2.559         0              0              0
  82  GarbageCan      -1.935         -0.002         2.029          0              270            0
  83  Shelf           1.750          0.172          -2.559         0              0              0
  84  Fridge          -2.096         0.0            1.088          0              0              0
  85  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  86  SinkBasin       -1.908         0.759          -1.488         0              90             0
  87  LightSwitch     2.329          1.309          -0.159         0              270            0
  88  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  89  Stool           0.702          0.000          -0.514         1.202          65.108         0
  90  Stool           0.743          0.000          0.563          1.227          106.706        0
  91  Faucet          -2.070         1.132          -1.514         0              0              0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: turn left, then go straight past the middle counter top to face the sink | STEP 2: pick up the knife in the sink | STEP 3: turn around, go straight, and then make a right to face the counter top behind the bar stools | STEP 4: slice the potato to the right of the tea kettle | STEP 5: go around to the opposite side of the center counter top | STEP 6: place the knife in the pot on the counter top | STEP 7: return to the other side of the counter top and face the sliced potato | STEP 8: pick up a slice of potato on the counter top | STEP 9: return to the other side of the center counter top facing the pot with the knife inside it | STEP 10: place the potato slice inside the pot on the counter top | STEP 11: pick up the pot on the counter top | STEP 12: go to the kitchen sink | STEP 13: place the pot on the left side of the kitchen sink | END