Task: To put a knife plus a potato slice in a pot as well as place it on the center table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.930          -0.5           0              0              0
   1  Ladle           0.895          0.945          0.489          0              216.810        0              93
   2  Ladle           3.253          0.214          0.559          0              90             0              71
   3  DishSponge      3.198          0.175          -0.744         0              0              0              74
   4  DishSponge      3.198          0.175          -0.870         0              0              0              74
   5  Glassbottle     3.111          0.748          0.231          0              90             0              107
   6  Kettle          1.491          0.909          0.889          0              0              0              93
   7  Spoon           0.101          0.901          -1.731         0              0              0              83
   8  Spoon           0.887          0.909          0.827          0              270            0              93
   9  Fork            -0.862         0.900          0.399          0              0              0              62
  10  CellPhone       -0.868         0.515          0.489          0              0              0              59
  11  Mug             -1.119         0.992          1.417          0              180            0              110
  12  Mug             -0.239         0.895          -1.496         0              45             0              83
  13  Apple           1.164          1.321          -1.503         0              0              0              108
  14  Apple           0.002          0.974          -1.533         0              45             0              83
  15  SaltShaker      -0.827         0.322          -0.361         0              0              0              67
  16  SaltShaker      -0.789         0.896          0.176          0              0              0              62
  17  SoapBottle      2.971          0.184          -0.786         0              0              0              74
  18  SoapBottle      0.661          0.917          0.176          0              36.810         0              93
  19  Egg             -1.018         1.050          1.311          0              90             0              110
  20  Plate           3.102          1.477          -1.235         0              0              0              76
  21  Plate           3.028          0.188          -0.404         0              0              0              73
  22  Knife           3.122          0.926          -0.798         0              0              0              61
  23  Plate           0.808          1.687          -1.480         0              0              0              77
  24  Glassbottle     3.084          0.177          0.911          0              0              0              71
  25  SoapBottle      0.012          0.909          -1.337         0              45             0              83
  26  Potato          3.152          0.785          0.098          0              90             0              107
  27  Fork            -1.008         0.900          0.176          0              0              0              62
  28  Ladle           1.064          1.711          -1.689         0              90             0              53
  29  Pot             -0.420         0.902          -0.920         0              135            0              57
  30  Kettle          2.971          0.178          0.770          0              0              0              71
  31  Spatula         -0.827         0.145          0.926          0              270            0              92
  32  Knife           0.547          0.936          0.140          0              36.810         0              93
  33  Lettuce         -0.717         0.965          -0.494         0              0              0              62
  34  Cup             1.086          0.711          -1.433         0              0              0              108
  35  SaltShaker      -0.755         0.130          -0.731         0              45             0              88
  36  Egg             -1.119         1.050          1.523          0              90             0              110
  37  PepperShaker    0.422          0.127          -1.515         0              0              0              52
  38  ButterKnife     -0.868         0.518          1.255          0              0              0              50
  39  Apple           0.798          0.981          0.527          0              0              0              93
  40  Pan             0.341          0.873          -1.649         0              167.065        0              83
  41  Bread           0.611          0.986          0.457          0              36.810         0              93
  42  CellPhone       0.022          0.897          -1.803         0              0              0              83
  43  DishSponge      0.415          0.899          -1.445         0              0              0              83
  44  Tomato          1.064          0.947          0.483          0              36.810         0              93
  45  Spoon           3.028          0.748          0.032          0              180            0              107
  46  Bowl            1.208          1.671          -1.689         0              0              0              53
  47  Mug             -0.985         0.992          1.205          0              90             0              110
  48  Drawer          0.376          0.572          -1.509         0              0              0
  49  Drawer          3.020          0.769          -0.783         0              180            0
  50  Drawer          -0.860         0.577          1.429          0              0              0
  51  StoveBurner     -0.600         0.897          -1.090         0              135            0
  52  Drawer          0.376          0.191          -1.509         0              0              0
  53  Cabinet         1.402          1.874          -1.259         0              0              0
  54  Cabinet         -0.202         1.963          -1.328         0              0              0
  55  Drawer          -0.860         0.765          1.429          0              0              0
  56  Drawer          -0.677         0.765          -0.700         0              0              0
  57  StoveBurner     -0.420         0.897          -0.920         0              135            0
  58  Drawer          3.020          0.769          -0.407         0              180            0
  59  Drawer          -0.860         0.577          0.663          0              0              0
  60  Cabinet         2.819          1.768          -1.850         0              0              0
  61  CounterTop      3.111          0.936          0.019          0              0              0
  62  CounterTop      -1.007         0.935          -0.039         0              0              0
  63  Drawer          -0.860         0.385          0.663          0              0              0
  64  StoveBurner     -0.419         0.897          -1.269         0              315            0
  65  Drawer          -0.047         0.573          -1.324         0              0              0
  66  Drawer          -0.860         0.765          0.663          0              0              0
  67  Drawer          -0.860         0.385          -0.100         0              0              0
  68  Drawer          0.376          0.380          -1.509         0              0              0
  69  Drawer          -0.860         0.765          -0.100         0              0              0
  70  Drawer          0.376          0.765          -1.509         0              0              0
  71  Cabinet         2.849          0.419          0.409          0              0              0
  72  Drawer          -0.047         0.765          -1.324         0              0              0
  73  Cabinet         2.849          0.419          -0.610         0              0              0
  74  Cabinet         2.849          0.419          -0.959         0              0              0
  75  Cabinet         3.069          1.666          -0.709         0              0              0
  76  Cabinet         2.819          1.768          -1.047         0              0              0
  77  Cabinet         0.620          1.874          -1.259         0              0              0
  78  Cabinet         0.140          1.666          -1.559         0              0              0
  79  Cabinet         -0.189         1.666          -1.340         0              0              0
  80  Cabinet         -0.709         1.963          -0.819         0              0              0
  81  Cabinet         -0.920         1.665          -0.620         0              0              0
  82  Drawer          -0.860         0.190          -0.100         0              0              0
  83  CounterTop      0.133          0.935          -1.457         0              0              0
  84  Drawer          3.020          0.769          0.695          0              180            0
  85  Drawer          -0.677         0.577          -0.700         0              0              0
  86  Drawer          -0.860         0.190          1.429          0              0              0
  87  Drawer          -0.047         0.192          -1.324         0              0              0
  88  Drawer          -0.677         0.193          -0.700         0              0              0
  89  Drawer          -0.860         0.577          -0.100         0              0              0
  90  Sink            3.078          0.887          0.086          0              0              0
  91  StoveBurner     -0.239         0.897          -1.089         0              315            0
  92  Drawer          -0.860         0.190          0.663          0              0              0
  93  CounterTop      1.210          0.937          0.463          0              0              0
  94  Drawer          -0.047         0.381          -1.324         0              0              0
  95  Drawer          -0.677         0.387          -0.700         0              0              0
  96  Mirror          -1.295         1.630          0.045          0              0              0
  97  Drawer          -0.860         0.385          1.429          0              0              0
  98  HousePlant      3.196          0.891          -0.368         0              0              0
  99  StoveKnob       -0.090         0.790          -1.009         270            45             0
 100  StoveKnob       -0.280         0.790          -0.819         270            45             0
 101  StoveKnob       -0.180         0.790          -0.920         270            45             0
 102  StoveKnob       -0.370         0.790          -0.720         270            45             0
 103  GarbageCan      3.137          0.025          1.545          0              225            0
 104  Window          3.703          1.675          0.046          90             90             0
 105  CoffeeMachine   3.214          0.890          0.697          0              270            0
 106  LightSwitch     2.592          1.309          -1.880         0              0              0
 107  SinkBasin       3.069          0.736          0.108          0              90             0
 108  Fridge          1.008          0.029          -1.467         0              0              0
 109  Toaster         -1.035         0.873          -0.396         0              90             0
 110  Microwave       -1.034         0.874          1.428          0              90             0
 111  Faucet          3.305          0.886          0.094          270            180            0
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Turn right and step forward to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the sink. | STEP 4: Cut the potato in the sink into slices. | STEP 5: Turn around and walk across the room to face the stove. | STEP 6: Place the knife in the pot on the stove. | STEP 7: Turn around and walk forward to face the sink. | STEP 8: Pick up a slice of potato in the sink. | STEP 9: Turn around and walk across the room to face the stove. | STEP 10: Place the potato slice in the pot with the knife. | STEP 11: Pick up the pot with the knife and potato slice in it. | STEP 12: Turn around and step forward to face the center table. | STEP 13: Place the pot on the center table. | END