Task: Cut a potato into slices placing it in front of the pepper shaker.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           1.124          -0.75          0              270            0
   1  Pan             -1.530         1.322          0.120          0              0              0              54
   2  Potato          -1.308         1.362          -2.760         0              0              0              54
   3  Potato          0.957          1.985          1.847          0              270            0              67
   4  Spoon           -1.401         1.324          1.094          0              0              0              54
   5  Spatula         -1.826         1.348          -1.255         0              0              0              61
   6  Spatula         -1.730         0.435          -0.364         0              180            0              58
   7  Pot             -0.125         1.332          -2.973         0              0              0              62
   8  Egg             0.908          1.986          1.494          0              270            0              67
   9  Cup             1.017          1.754          2.053          0              270            0              67
  10  Plate           0.900          0.345          -2.164         0              180            0              53
  11  Knife           -1.920         1.352          -1.941         0              0              0              54
  12  Knife           0.492          1.352          -3.121         0              0              0              54
  13  SoapBottle      -1.681         0.280          2.275          0              0              0              69
  14  Tomato          -1.890         1.084          -0.633         0              0              0              72
  15  Tomato          1.072          1.558          1.601          0              270            0              67
  16  Bowl            -1.614         0.342          0.512          0              0              0              52
  17  SaltShaker      -1.749         0.338          0.211          0              0              0              52
  18  PepperShaker    -1.522         1.318          -3.092         0              0              0              54
  19  PepperShaker    -1.614         0.338          0.211          0              0              0              52
  20  Bread           -1.530         1.397          1.419          0              0              0              54
  21  Bread           -1.920         1.397          2.069          0              0              0              54
  22  Lettuce         0.506          1.399          -1.312         0              0              0              54
  23  Lettuce         0.896          1.399          -2.053         0              0              0              54
  24  Mug             -1.886         0.338          1.007          0              0              0              55
  25  Mug             1.181          1.305          0.861          0              270            0              79
  26  Bread           -2.049         1.397          -2.721         0              0              0              54
  27  Pot             -0.630         1.331          -3.301         0              180            0              51
  28  Knife           -1.237         1.352          -3.203         0              90             0              54
  29  Bowl            1.017          1.673          1.663          0              270            0              67
  30  Potato          -1.401         1.362          -2.201         0              0              0              54
  31  SoapBottle      -1.915         1.335          -0.980         0              0              0              61
  32  Fork            -1.645         0.423          -0.495         0              270            0              58
  33  Cup             -1.522         1.320          -2.981         0              0              0              54
  34  Kettle          -2.049         1.324          0.445          0              0              0              54
  35  Egg             0.938          1.715          1.840          0              270            0              67
  36  Pan             1.155          1.322          -2.424         0              0              0              54
  37  SaltShaker      -1.920         1.318          0.770          0              0              0              54
  38  WineBottle      0.634          1.323          -2.789         0              0              0              54
  39  Lettuce         -1.790         1.399          1.094          0              0              0              54
  40  Spatula         -1.561         0.437          -0.298         0              270            0              58
  41  PaperTowelRoll  1.110          1.312          1.238          0              0              0              84
  42  Tomato          0.970          1.558          1.724          0              270            0              67
  43  Plate           -1.920         1.323          1.744          0              0              0              54
  44  PepperShaker    0.944          1.202          1.238          0              0              0              79
  45  DishSponge      -1.826         1.063          -0.496         0              0              0              72
  46  Spoon           -1.920         1.324          1.094          0              0              0              54
  47  Apple           -1.401         1.371          0.770          0              0              0              54
  48  Mug             0.965          1.371          -1.534         0              270            0              75
  49  StoveBurner     -0.239         1.325          -3.301         0              180            0
  50  Cabinet         -1.461         0.775          -2.002         0              0              0
  51  StoveBurner     -0.630         1.325          -3.301         0              180            0
  52  Cabinet         -1.461         0.775          0.470          0              0              0
  53  Cabinet         0.578          0.776          -2.054         0              0              0
  54  CounterTop      -1.809         1.358          1.182          0              0              0
  55  Cabinet         -1.461         0.775          1.310          0              0              0
  56  Faucet          -2.063         1.362          -0.726         0              39.391         0
  57  StoveBurner     -0.749         1.325          -2.973         0              0              0
  58  Drawer          -1.610         0.681          -0.430         0              0              0
  59  Window          -2.566         1.799          -0.822         270            0              0
  60  Drawer          -1.610         0.681          -1.217         0              0              0
  61  Sink            -1.990         1.143          -0.975         0              0              0
  62  StoveBurner     -0.125         1.325          -2.973         0              0              0
  63  StoveKnob       -0.185         1.338          -2.741         0              270            180
  64  StoveKnob       -0.336         1.338          -2.741         0              270            180
  65  StoveKnob       -0.569         1.338          -2.741         0              270            180
  66  StoveKnob       -0.707         1.338          -2.741         0              270            180
  67  Fridge          1.013          0.227          1.917          0              270            0
  68  Microwave       0.994          1.310          -2.163         0              270            0
  69  GarbageCan      -1.633         0.212          2.192          0              270            0
  70  LightSwitch     1.386          1.565          -0.657         0              270            0
  71  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  72  SinkBasin       -1.835         1.039          -0.542         0              0              0
  73  ButterKnife     0.873          0.468          0.651          0              0              0
  74  Toaster         -1.885         1.310          -2.512         0              90             0
  75  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  76  Drawer          0.647          1.061          0.680          0              270            0
  77  Drawer          0.648          1.061          1.020          0              270            0
  78  Drawer          0.648          0.843          1.020          0              270            0
  79  SideTable       0.975          0.220          0.869          0              270            0
  80  Drawer          0.648          0.602          0.680          0              270            0
  81  Drawer          0.648          0.596          1.020          0              270            0
  82  Drawer          0.648          0.843          0.680          0              270            0
  83  Stool           0.606          0.222          -1.084         1.233          280.489        0
  84
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Walk towards the sink, turn right then walk towards the stove. | STEP 2: Pick up the knife that is located on the right side of the stove. | STEP 3: Turn right towards the potato on the counter nearest the toaster | STEP 4: Cut the potato, near the toaster, into slices.  | STEP 5: Turn right then walk toward the sink, turn right and walk towards the table, then turn all the way around and face the sink | STEP 6: Open the cabinet door underneath the counter top on the left side and place the knife on the shelf. | STEP 7: Turn left then walk towards the stove, then turn right and walk towards the counter top. | STEP 8: Pick up a slice of potato from the counter top. | STEP 9: Take the potato slice and turn right, then turn left in front of the sink. | STEP 10: Place the potato slice in the sink, in front of the tomato, then turn the water on, rinse the potato slice, then turn the water off. | STEP 11: Pick up the potato slice, turn right and walk towards the wall, then turn right again and walk towards the microwave.  | STEP 12: Place the potato slice on the left side of the table in front of the pepper shaker.   | END