Task: Put a plate with a slice of potato on it on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          0.5            0              0              0
   1  Kettle          1.007          0.962          0.561          0              270            0              52
   2  DishSponge      1.846          0.911          0.375          0              0              0              65
   3  DishSponge      -0.634         0.110          -1.545         0              0              0              64
   4  Spoon           0.025          0.775          0.306          0              0              0              56
   5  Spatula         0.960          0.934          -1.649         0              90             0              48
   6  Spatula         0.167          0.927          0.706          0              270            0              49
   7  Cup             1.601          0.910          0.623          0              0              0              65
   8  Plate           1.846          0.913          0.623          0              0              0              65
   9  Plate           0.504          0.111          0.308          0              0              0              61
  10  Knife           -1.928         0.977          0.255          0              90             0              83
  11  Knife           -2.065         0.977          0.435          0              90             0              83
  12  Tomato          1.535          0.961          -1.654         0              0              0              50
  13  Tomato          0.035          0.961          0.209          0              0              0              49
  14  SaltShaker      -2.203         0.948          0.524          0              90             0              83
  15  PepperShaker    -1.791         0.948          0.704          0              90             0              83
  16  Lettuce         -2.203         1.042          0.255          0              90             0              83
  17  Lettuce         -2.065         1.042          0.614          0              90             0              83
  18  Mug             -2.135         1.047          -1.763         0              0              0              80
  19  Apple           -1.079         1.082          -1.671         0              0              0              72
  20  Apple           -0.329         0.137          0.569          0              90             0              79
  21  Bread           1.299          0.978          -1.532         0              0              0              50
  22  Knife           0.701          0.944          -1.582         0              270            0              48
  23  Fork            0.377          0.783          -1.648         0              270            0              73
  24  Bowl            -2.31          0.510          -1.763         0              0              0              80
  25  Kettle          1.361          0.962          0.294          0              180            0              45
  26  Cup             1.785          0.910          0.209          0              0              0              65
  27  Tomato          1.903          0.961          -1.737         0              0              0              50
  28  SoapBottle      0.455          0.107          -1.472         0              180            0              47
  29  Plate           -1.959         0.781          -1.806         0              0              0              80
  30  Pot             -2.383         0.94           0.583          0              0              0              83
  31  Spatula         -0.443         0.921          -1.468         0              338.343        0              50
  32  PaperTowelRoll  -2.340         1.056          0.165          0              270            0              83
  33  Egg             -0.427         0.105          0.439          0              90             0              79
  34  Lettuce         -1.791         1.042          0.524          0              90             0              83
  35  SaltShaker      -2.065         0.948          0.165          0              90             0              83
  36  PepperShaker    -0.129         0.102          0.320          0              0              0              60
  37  Apple           1.781          0.979          -1.489         0              0              0              50
  38  ButterKnife     -0.267         0.912          -1.737         0              0              0              50
  39  Potato          0.753          0.949          -1.649         0              270            0              48
  40  Pan             1.022          0.959          0.288          0              219.190        0              62
  41  DishSponge      1.535          1.328          -1.772         0              180            0              66
  42  Spoon           -0.724         0.775          -1.473         0              270            0              54
  43  Mug             0.618          0.945          0.469          0              180            0              74
  44  Cabinet         -0.193         1.688          -1.648         0              180            0
  45  StoveBurner     1.360          0.957          0.293          0              180            0
  46  Drawer          0.499          0.792          0.296          0              0              0
  47  Cabinet         0.095          0.400          -1.352         0              180            0
  48  Sink            0.711          0.817          -1.772         0              270            0
  49  CounterTop      0.280          0.947          0.458          0              0              0
  50  CounterTop      -0.680         0.947          -1.654         0              0              0
  51  Drawer          1.825          0.792          0.296          0              0              0
  52  StoveBurner     1.007          0.957          0.561          0              270            0
  53  Drawer          -0.150         0.792          -1.496         0              0              0
  54  Drawer          -0.586         0.792          -1.496         0              0              0
  55  StoveBurner     1.360          0.957          0.561          0              270            0
  56  Drawer          0.024          0.792          0.296          0              0              0
  57  Cabinet         1.079          0.400          -1.349         0              180            0
  58  Cabinet         1.669          0.402          0.151          0              0              0
  59  Cabinet         0.055          0.402          -1.351         0              0              0
  60  Cabinet         -0.180         0.402          0.151          0              0              0
  61  Cabinet         0.729          0.402          0.151          0              0              0
  62  StoveBurner     1.007          0.957          0.293          0              180            0
  63  Drawer          -1.100         0.792          -1.496         0              0              0
  64  Cabinet         -0.396         0.402          -1.351         0              0              0
  65  CounterTop      1.776          0.947          0.458          0              0              0
  66  Cabinet         1.974          1.688          -1.648         0              180            0
  67  Cabinet         -0.820         0.400          -1.349         0              180            0
  68  Toaster         0.305          0.900          0.552          0              180            0
  69  LightSwitch     -2.756         1.307          -0.987         0              90             0
  70  Window          0.582          1.613          -1.967         90             0              0
  71  Window          1.969          1.5            -0.615         90             270            0
  72  Microwave       -1.037         0.900          -1.723         0              0              0
  73  SinkBasin       0.377          0.765          -1.655         0              270            0
  74  CoffeeMachine   0.618          0.900          0.600          0              180            0
  75  StoveKnob       1.246          0.913          0.118          45             180            0
  76  StoveKnob       1.373          0.913          0.118          45             180            0
  77  StoveKnob       0.995          0.913          0.118          45             180            0
  78  StoveKnob       1.126          0.913          0.118          45             180            0
  79  GarbageCan      -0.368         -0.029         0.539          0              90             0
  80  Fridge          -2.134         0.0            -1.690         0              0              0
  81  Faucet          0.549          1.046          -1.833         0              232.527        0
  82  Stool           -1.475         0.000          0.414          1.233          280.375        0
  83  DiningTable     -2.255         -0.004         0.432          0              0              0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn around, go forward and to the left to the sink. | STEP 2: Take the large knife from the sink's drying rack. | STEP 3: Cut the potato on the rack into slices. | STEP 4: Turn right, go towards the wall, turn right, go forward to the white table. | STEP 5: Put the knife to the right of the salt on the table. | STEP 6: Turn right, go forward, turn right at the sink, go to the sink. | STEP 7: Take a slice of potato from the sink's drying rack. | STEP 8: Turn right, go towards the wall, turn left to face the fridge. | STEP 9: Put the potato on the clear plate at the bottom of the fridge. | STEP 10: Take the plate from the fridge. | STEP 11: Turn around, go forward to the white table. | STEP 12: Put the plate to the left of the closest lettuce on the table. | END