Task: put a cooked potato slice in to 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           -1.5           0.900          -0.5           0              270            0
   1  Pan             1.807          0.909          -0.320         0              180            0              41
   2  Pan             1.543          0.909          -0.320         0              90             0              42
   3  Potato          0.989          0.950          0.739          0              90             0              39
   4  Fork            1.865          0.911          -1.545         0              90             0              43
   5  Spoon           0.455          0.912          -1.793         0              180            0              43
   6  Egg             -0.644         1.424          -1.559         0              0              0              66
   7  Egg             -0.887         0.785          -1.524         0              0              0              66
   8  Cup             -0.838         1.681          -1.594         0              0              0              66
   9  Plate           0.476          0.912          1.180          0              90             0              39
  10  Tomato          -0.692         1.746          -1.629         0              0              0              66
  11  Bowl            1.809          2.134          1.159          0              0              0              46
  12  Bowl            1.805          1.652          -0.449         0              0              0              50
  13  PepperShaker    1.840          1.640          -1.765         0              0              0              53
  14  PepperShaker    1.684          0.905          0.467          0              90             0              39
  15  Apple           0.553          0.968          -1.263         0              90             0              43
  16  Apple           1.757          0.967          1.269          0              90             0              39
  17  Plate           -0.790         0.462          -1.476         0              0              0              66
  18  SoapBottle      1.757          0.908          1.092          0              90             0              39
  19  Cup             1.865          0.909          -1.288         0              90             0              43
  20  Egg             1.796          0.946          -1.717         0              90             0              43
  21  Fork            1.205          0.752          -1.725         0              0              0              58
  22  Ladle           1.201          0.926          0.743          3.366          0              346.986        39
  23  Apple           1.709          0.127          1.731          0              270            0              57
  24  SaltShaker      1.516          0.906          -1.460         0              0              0              43
  25  Pan             1.281          0.900          1.190          0              0              0              39
  26  Tomato          1.656          0.975          -1.288         0              90             0              43
  27  Spatula         0.989          0.925          0.827          0              90             0              39
  28  Potato          -0.741         1.131          -1.594         0              0              0              66
  29  Knife           1.839          0.943          0.311          0              0              0              39
  30  ButterKnife     0.296          0.9            -1.296         0              14.568         0              43
  31  Bread           1.615          0.977          0.761          0              50.525         0              39
  32  Lettuce         0.856          0.989          1.120          0              270            1.472          39
  33  PepperShaker    1.757          0.905          1.004          0              90             0              39
  34  Pot             1.548          0.909          0.075          0              180            0              45
  35  DishSponge      1.097          0.910          -1.230         0              90             0              43
  36  Spoon           1.839          0.911          0.467          0              90             0              39
  37  Bowl            1.805          1.631          -0.973         0              0              0              51
  38  Mug             1.803          1.010          -0.676         0              270            0              63
  39  CounterTop      0.989          0.946          1.016          0              90             0
  40  StoveBurner     1.807          0.907          0.075          0              180            0
  41  StoveBurner     1.807          0.907          -0.320         0              180            0
  42  StoveBurner     1.543          0.907          -0.320         0              90             0
  43  CounterTop      0.989          0.946          -1.516         0              90             0
  44  Sink            1.100          0.906          -1.599         0              0              0
  45  StoveBurner     1.548          0.907          0.075          0              180            0
  46  Cabinet         1.658          2.299          1.313          0              0              0
  47  Cabinet         1.658          2.299          0.686          0              0              0
  48  Cabinet         1.658          2.049          0.673          0              0              0
  49  Cabinet         1.658          2.059          0.193          0              0              0
  50  Cabinet         1.658          2.059          -0.593         0              0              0
  51  Cabinet         1.658          2.049          -0.606         0              0              0
  52  Cabinet         1.658          2.049          -1.206         0              0              0
  53  Cabinet         1.658          2.049          -1.893         0              0              0
  54  Toaster         0.131          0.900          -1.589         0              0              0
  55  Window          -0.372         1.588          3.349          90             0              0
  56  Window          0.782          1.741          -1.893         90             0              0
  57  GarbageCan      1.770          -0.029         1.685          0              270            0
  58  SinkBasin       1.091          0.740          -1.599         0              0              0
  59  StoveKnob       1.364          0.821          0.086          48.421         270            0
  60  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  61  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  62  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  63  Microwave       1.752          0.900          -0.843         0              270            0
  64  LightSwitch     2.0            1.261          3.094          0              270            0
  65  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  66  Fridge          -0.533         0.0            -1.554         0              0              0
  67  Chair           1.068          0.000          1.752          0              191.622        0
  68  Faucet          1.110          1.138          -1.764         0              270            0
  69  Chair           0.357          0.000          1.710          0              178.899        0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: turn around and move forward towards the stove | STEP 2: pick up the sharp knife with the yellow handle that is to the left of the stove top | STEP 3: turn to the left to face the counter with the potato | STEP 4: slice the potato with the knife | STEP 5: move back slightly from the counter | STEP 6: put the knife on to the counter on top of the spatula | STEP 7: face the counter in front of the potato | STEP 8: pick up a slice of potato from the counter | STEP 9: turn around and move forward, passing the stove on the left to the counter on the right side of the stove with the microwave, turn to face the microwave | STEP 10: open the microwave door, put the potato slice in to the microwave, close the door, cook for three seconds, open the door, remove the potato and close the door | STEP 11: turn to the right to face the sink | STEP 12: put the slice of potato in to the sink | END