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           -1.0           0.900          0.0            0              90             0
   1  Potato          1.757          0.950          0.827          0              90             0              49
   2  Potato          0.220          0.950          1.269          0              90             0              49
   3  Potato          0.963          0.800          -1.710         0              90             0              68
   4  Ladle           1.844          1.683          0.431          0              270            0              58
   5  ButterKnife     0.988          0.910          1.092          0              90             0              49
   6  ButterKnife     1.501          0.910          0.827          0              90             0              49
   7  DishSponge      1.762          0.910          0.518          0              90             0              49
   8  Pot             1.807          0.909          -0.320         0              180            0              51
   9  Spoon           0.988          0.911          1.092          0              90             0              49
  10  Spoon           0.220          0.911          1.004          0              90             0              49
  11  Egg             -0.741         1.718          -1.629         0              0              0              76
  12  Egg             -0.413         1.099          -1.332         0              0              0              76
  13  Cup             1.865          0.909          -1.288         0              90             0              53
  14  Knife           1.245          0.932          0.823          0              90             353.583        49
  15  Knife           1.586          0.943          -1.802         0              180            0              53
  16  SoapBottle      1.77           0.068          1.779          0              270            0              67
  17  SoapBottle      1.769          1.643          -1.806         0              0              0              63
  18  Tomato          0.732          0.974          1.180          0              90             0              49
  19  Tomato          1.501          0.974          1.004          0              90             0              49
  20  Bowl            1.805          1.631          -0.755         0              0              0              61
  21  Bowl            1.805          1.652          -0.353         0              0              0              60
  22  SaltShaker      1.805          1.640          -1.683         0              0              0              63
  23  SaltShaker      0.988          0.905          1.180          0              90             0              49
  24  PepperShaker    1.875          1.640          -1.847         0              0              0              63
  25  PepperShaker    1.772          1.634          0.599          0              0              0              58
  26  Lettuce         -0.692         0.846          -1.594         0              0              0              76
  27  Plate           1.802          1.647          -0.000         0              0              0              59
  28  SoapBottle      1.841          1.633          -1.419         0              0              0              62
  29  Cup             0.989          0.908          0.827          0              90             0              49
  30  Egg             1.771          1.050          -0.676         0              270            0              73
  31  Fork            1.586          0.911          -1.545         0              90             0              53
  32  Ladle           1.181          0.926          0.743          6.616          0              346.984        49
  33  Apple           1.239          0.817          -1.544         0              0              0              68
  34  SaltShaker      1.516          0.906          -1.460         0              0              0              53
  35  Pan             1.281          0.900          1.190          0              0              0              49
  36  Tomato          1.800          0.134          1.636          0              270            0              67
  37  Spatula         1.696          1.080          0.074          0              0              49.769         55
  38  Potato          1.101          0.800          -1.654         0              0              0              68
  39  Knife           1.726          0.943          -1.460         0              90             0              53
  40  ButterKnife     0.455          0.911          -1.352         0              90             0              53
  41  Bread           0.220          0.987          0.827          0              90             0              49
  42  Lettuce         1.757          1.010          1.092          0              90             0              49
  43  PepperShaker    1.734          1.630          -1.460         0              0              0              62
  44  Pot             1.548          0.909          0.075          0              180            0              55
  45  DishSponge      1.101          0.760          -1.488         0              0              0              68
  46  Spoon           1.607          0.911          0.363          0              90             0              49
  47  Bowl            -0.790         0.459          -1.541         0              0              0              76
  48  Mug             0.502          0.940          -1.460         0              0              0              75
  49  CounterTop      0.989          0.946          1.016          0              90             0
  50  StoveBurner     1.807          0.907          0.075          0              180            0
  51  StoveBurner     1.807          0.907          -0.320         0              180            0
  52  StoveBurner     1.543          0.907          -0.320         0              90             0
  53  CounterTop      0.989          0.946          -1.516         0              90             0
  54  Sink            1.100          0.906          -1.599         0              0              0
  55  StoveBurner     1.548          0.907          0.075          0              180            0
  56  Cabinet         1.658          2.299          1.313          0              0              0
  57  Cabinet         1.658          2.299          0.686          0              0              0
  58  Cabinet         1.658          2.049          0.673          0              0              0
  59  Cabinet         1.658          2.059          0.193          0              0              0
  60  Cabinet         1.658          2.059          -0.593         0              0              0
  61  Cabinet         1.658          2.049          -0.606         0              0              0
  62  Cabinet         1.658          2.049          -1.206         0              0              0
  63  Cabinet         1.658          2.049          -1.893         0              0              0
  64  Toaster         0.131          0.900          -1.589         0              0              0
  65  Window          -0.372         1.588          3.349          90             0              0
  66  Window          0.782          1.741          -1.893         90             0              0
  67  GarbageCan      1.770          -0.029         1.685          0              270            0
  68  SinkBasin       1.091          0.740          -1.599         0              0              0
  69  StoveKnob       1.364          0.821          0.086          48.421         270            0
  70  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  71  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  72  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  73  Microwave       1.752          0.900          -0.843         0              270            0
  74  LightSwitch     2.0            1.261          3.094          0              270            0
  75  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  76  Fridge          -0.533         0.0            -1.554         0              0              0
  77  Chair           1.068          0.000          1.752          0              191.622        0
  78  Faucet          1.110          1.138          -1.764         0              270            0
  79  Chair           0.357          0.000          1.710          0              178.899        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: move slightly to the right and then forward to the microwave | STEP 2: pick up the sharp knife with the yellow handle that is on the counter to the right of the microwave | STEP 3: turn to the right to face the sink | STEP 4: slice the potato that is in the middle of the sink with the sharp knife | STEP 5: put the knife in to the sink | STEP 6: pick up one slice of the potato from the sink | STEP 7: turn to the left to face the microwave | STEP 8: open the microwave door, put the potato on to the plate that is in the microwave, turn on the microwave for four seconds, open the door, remove the potato slice, close the door | STEP 9: turn to the right to face the sink | STEP 10: put the potato slice in to the sink to the right of the knife | END