Task: Place a heated potato slice in a sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          0.25           0              180            0
   1  Pan             -1.937         0.911          -2.256         0              180            0              89
   2  Statue          1.893          0.551          -2.459         0              180            0              94
   3  Vase            1.685          0.550          -2.666         0              180            0              94
   4  Potato          0.453          0.941          -2.637         0              0              0              66
   5  Potato          0.453          0.941          -2.330         0              0              0              66
   6  CreditCard      0.835          0.139          -2.431         0              0              0              84
   7  CreditCard      -1.824         0.475          -0.148         0              90             0              79
   8  Plate           0.217          1.108          -0.001         0              0              0              64
   9  Cup             0.324          0.908          -2.637         0              0              0              66
  10  Cup             -1.999         0.224          0.837          0              90             0              97
  11  Egg             -1.797         0.804          -1.328         0              90             0              99
  12  Egg             -1.982         1.339          1.343          0              90             0              97
  13  Tomato          -2.070         1.345          0.841          0              90             0              97
  14  SoapBottle      -1.651         0.479          -0.051         0              90             0              79
  15  SoapBottle      -0.473         1.112          -0.001         0              0              0              64
  16  SaltShaker      1.891          0.877          -2.536         0              180            0              91
  17  PepperShaker    -1.611         0.907          -2.585         0              0              0              89
  18  Bread           -0.059         1.184          -0.001         0              0              0              64
  19  Lettuce         0.355          1.191          -0.506         0              0              0              64
  20  Lettuce         0.324          0.990          -2.330         0              0              0              66
  21  Knife           -1.597         0.936          -1.309         0              90             0              89
  22  Knife           -1.290         0.936          -2.560         0              0              0              89
  23  Spatula         -0.848         0.926          -2.637         0              0              0              89
  24  ButterKnife     0.950          0.481          -2.380         0              0              0              72
  25  Glassbottle     -1.963         0.770          -1.673         0              90             0              99
  26  WineBottle      -1.907         0.048          2.076          0              270            0              95
  27  DishSponge      0.217          1.111          0.251          0              0              0              64
  28  Bowl            1.478          0.549          -2.666         0              180            0              94
  29  Book            0.155          1.1            0.617          0              315            0              64
  30  Glassbottle     -0.912         0.137          -2.453         0              0              0              82
  31  Knife           -1.908         0.795          -1.587         0              90             0              99
  32  Bread           0.217          1.184          -0.759         0              0              0              64
  33  Fork            -0.335         1.112          -0.000         0              0              0              64
  34  Potato          -1.997         0.570          1.168          0              90             0              97
  35  SoapBottle      1.119          1.661          -2.527         0              0              0              86
  36  Kettle          1.037          0.9            -2.596         0              0              0              66
  37  Pan             -0.465         0.950          -2.576         0              90             0              73
  38  Plate           -2.081         1.499          1.008          0              90             0              97
  39  Tomato          -0.473         1.150          -0.253         0              0              0              64
  40  Vase            0.563          0.142          -2.337         0              0              0              81
  41  Egg             -1.880         0.083          1.981          0              270            0              95
  42  CreditCard      0.779          0.312          -2.286         0              0              0              84
  43  Statue          -0.335         1.110          0.504          0              90             0              64
  44  WineBottle      -0.059         1.112          0.251          0              0              0              64
  45  Pot             -0.036         0.950          -2.576         0              270            0              67
  46  Spatula         0.355          1.126          0.251          0              90             0              64
  47  PaperTowelRoll  1.789          0.985          -2.509         0              180            0              91
  48  Cup             -0.059         1.109          -0.759         0              0              0              64
  49  Vase            -0.840         1.653          -2.640         0              0              0              78
  50  Bowl            1.098          0.907          -2.330         0              0              0              66
  51  SaltShaker      -1.296         0.133          -2.251         0              0              0              82
  52  PepperShaker    -1.653         0.150          -0.342         0              90             0              87
  53  Lettuce         -2.078         0.878          1.003          0              90             0              97
  54  ButterKnife     -0.059         1.111          -0.506         0              0              0              64
  55  Apple           -2.114         1.356          1.092          0              90             0              97
  56  DishSponge      -1.963         0.769          -1.328         0              90             0              99
  57  Spoon           -1.908         0.770          -1.760         0              180            0              99
  58  Mug             -1.401         1.653          -2.604         0              0              0              80
  59  StoveBurner     -0.036         0.915          -2.372         0              0              0
  60  Drawer          0.949          0.832          -2.197         0              0              0
  61  Drawer          -1.560         0.839          0.204          0              90             0
  62  StoveBurner     -0.465         0.915          -2.371         0              180            0
  63  Drawer          -1.560         0.839          -0.197         0              90             0
  64  CounterTop      -0.079         1.147          -0.001         0              0              0
  65  Cabinet         -1.549         0.494          -1.964         0              90             0
  66  CounterTop      0.693          0.946          -2.483         0              0              0
  67  StoveBurner     -0.036         0.915          -2.576         0              0              0
  68  Drawer          0.949          0.393          -2.200         0              0              0
  69  Drawer          0.949          0.708          -2.200         0              0              0
  70  Cabinet         -1.549         0.494          0.379          0              90             0
  71  StoveKnob       -0.022         0.881          -2.187         45             0              0
  72  Drawer          0.949          0.560          -2.201         0              0              0
  73  StoveBurner     -0.465         0.915          -2.575         0              180            0
  74  Window          -2.230         1.429          -1.203         0              0              0
  75  StoveKnob       -0.483         0.881          -2.187         45             0              0
  76  Sink            -1.899         0.964          -1.5           0              90             0
  77  StoveKnob       -0.328         0.881          -2.187         45             0              0
  78  Cabinet         -0.727         2.015          -2.460         0              0              0
  79  Drawer          -1.560         0.655          -0.196         0              90             0
  80  Cabinet         -1.685         2.015          -2.461         0              0              0
  81  Cabinet         0.680          0.494          -2.200         0              0              0
  82  Cabinet         -1.179         0.494          -2.200         0              0              0
  83  Cabinet         -1.849         2.015          0.379          0              90             0
  84  Drawer          0.949          0.221          -2.200         0              0              0
  85  StoveKnob       -0.183         0.881          -2.187         45             0              0
  86  Cabinet         0.719          2.015          -2.460         0              0              0
  87  Drawer          -1.560         0.331          -0.196         0              90             0
  88  Cabinet         0.680          2.015          -2.460         0              0              0
  89  CounterTop      -1.868         0.946          -1.205         0              0              0
  90  Microwave       -0.236         1.689          -2.525         0              0              0
  91  Shelf           1.751          0.880          -2.560         0              0              0
  92  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  93  Toaster         -1.835         0.900          0.134          0              90             0
  94  Shelf           1.750          0.552          -2.559         0              0              0
  95  GarbageCan      -1.935         -0.002         2.029          0              270            0
  96  Shelf           1.750          0.172          -2.559         0              0              0
  97  Fridge          -2.096         0.0            1.088          0              0              0
  98  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  99  SinkBasin       -1.908         0.759          -1.488         0              90             0
 100  LightSwitch     2.329          1.309          -0.159         0              270            0
 101  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 102  Stool           0.702          0.000          -0.514         1.202          65.108         0
 103  Stool           0.743          0.000          0.563          1.227          106.706        0
 104  Faucet          -2.070         1.132          -1.514         0              0              0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Go to the sink | STEP 2: Pick up the knife from the sink | STEP 3: Take the knife to the cabinet with marble top | STEP 4: Slice the potato on the cabinet top | STEP 5: Carry the knife back to the sink | STEP 6: Put the knife into the sink | STEP 7: Go back to the cabinet with the cut potato | STEP 8: Pick up a slice of potato | STEP 9: Go to the stove and raise the potato slice | STEP 10: Put the potato slice inside the microwave above the stove and take it out after heating | STEP 11: Take the potato slice to the sink | STEP 12: Place the potato slice in the sink | END