Task: Put a cold potato slice on the counter, and a knife on a plate on the same counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.901          -3.0           0              270            0
   1  DishSponge      -3.056         0.913          -2.926         0              0              0              45
   2  DishSponge      -2.632         0.716          -0.528         0              225            0              89
   3  ButterKnife     -2.629         0.913          -3.655         0              0              0              45
   4  ButterKnife     -1.776         0.790          -3.747         0              0              0              87
   5  Spatula         -3.225         0.928          -3.327         0              0              0              45
   6  Spatula         -2.740         0.728          -0.069         0              0              0              89
   7  Spoon           -1.776         0.791          -3.790         0              0              0              87
   8  Fork            -2.449         0.914          -3.729         0              0              0              45
   9  Cup             -0.489         0.082          -3.348         0              0              0              46
  10  Cup             -3.234         1.013          -2.125         0              90             0              86
  11  Plate           -0.419         0.914          -1.370         0              0              0              72
  12  Plate           -3.079         0.639          -1.879         0              90             0              86
  13  Knife           -3.167         0.946          -3.729         0              0              0              45
  14  Tomato          -2.922         0.763          -0.640         0              225            0              89
  15  Tomato          -3.393         0.963          -3.126         0              0              0              45
  16  SoapBottle      -1.214         0.079          -3.673         0              0              0              60
  17  SoapBottle      -3.053         0.713          -0.922         0              0              0              89
  18  Bowl            -3.176         1.865          -2.566         0              0              0              54
  19  Bowl            -0.650         0.911          -3.804         0              0              0              45
  20  SaltShaker      -0.295         0.078          -3.285         0              0              0              46
  21  Mug             -3.079         1.008          -2.187         0              90             0              86
  22  Mug             -2.664         0.708          -0.697         0              135            0              89
  23  Apple           -2.678         0.756          -0.069         0              0              0              89
  24  Pot             -2.836         0.903          -3.745         0              92.628         0              45
  25  Egg             -1.569         0.826          -3.790         0              0              0              87
  26  Cup             -0.128         1.868          -2.052         0              0              0              63
  27  Bread           -0.160         0.954          -3.012         0              0              0              45
  28  Fork            -2.439         0.717          -0.371         0              270            0              89
  29  Pan             -0.376         0.975          -2.031         0              180            0              74
  30  Potato          -2.431         0.760          -0.665         0              135            0              89
  31  Lettuce         -2.608         0.804          -0.841         0              225            0              89
  32  Tomato          -0.257         0.965          -0.507         0              0              0              72
  33  Apple           -0.065         1.055          -0.851         0              270            0              82
  34  SoapBottle      -0.450         0.080          -3.024         0              0              0              56
  35  Spatula         -2.723         0.731          -0.433         0              180            0              89
  36  SaltShaker      -2.723         0.713          -0.558         0              270            0              89
  37  Knife           -3.169         0.779          -2.912         0              270            0              67
  38  PepperShaker    -2.007         0.078          -3.713         0              0              0              66
  39  ButterKnife     -0.419         0.916          -0.542         0              0              0              72
  40  Plate           -3.182         1.397          -2.002         0              90             0              86
  41  DishSponge      -2.444         1.294          -3.966         0              0              0              58
  42  Spoon           -0.530         0.748          -1.486         0              90             0              68
  43  Mug             -1.914         0.785          -3.790         0              0              0              87
  44  Bowl            -3.292         0.711          -0.558         0              270            0              89
  45  CounterTop      -1.789         0.949          -3.803         0              0              0
  46  Cabinet         -0.577         0.388          -3.476         0              0              0
  47  Cabinet         -0.605         0.388          -3.511         0              0              0
  48  Cabinet         -2.976         0.388          -3.201         0              0              0
  49  Cabinet         -0.577         0.388          -0.447         0              0              0
  50  Cabinet         -0.577         0.388          -1.725         0              0              0
  51  Cabinet         -0.226         1.803          -1.743         0              0              0
  52  Cabinet         -0.228         1.799          -0.447         0              0              0
  53  Cabinet         -6.010         1.139          -6.019         0              0              0
  54  Cabinet         -3.022         2.098          -2.681         0              0              0
  55  Cabinet         -3.022         2.098          -1.743         0              0              0
  56  Cabinet         -0.577         0.388          -2.736         0              0              0
  57  Cabinet         -3.232         1.803          -3.343         0              0              0
  58  Cabinet         -2.811         1.810          -3.764         0              0              0
  59  Cabinet         -1.233         1.810          -3.764         0              0              0
  60  Cabinet         -1.364         0.388          -3.511         0              0              0
  61  Cabinet         -1.380         0.388          -3.511         0              0              0
  62  Cabinet         -0.226         1.803          -2.725         0              0              0
  63  Cabinet         -0.236         2.098          -1.767         0              0              0
  64  Cabinet         -0.236         2.098          -2.705         0              0              0
  65  Cabinet         -0.193         1.210          -4.239         0              0              0
  66  Cabinet         -2.148         0.388          -3.511         0              0              0
  67  Drawer          -3.104         0.797          -2.968         0              0              0
  68  Drawer          -0.449         0.797          -1.410         0              0              0
  69  Sink            -1.786         0.902          -3.748         0              0              0
  70  StoveBurner     -0.376         0.936          -2.451         0              0              0
  71  Drawer          -0.449         0.797          -0.762         0              0              0
  72  CounterTop      -0.268         0.951          -1.089         0              0              0
  73  Drawer          -0.449         0.797          -3.348         0              0              0
  74  StoveBurner     -0.376         0.936          -2.031         0              180            0
  75  Drawer          -0.449         0.797          -2.968         0              0              0
  76  StoveBurner     -0.165         0.936          -2.030         0              180            0
  77  StoveBurner     -0.165         0.936          -2.450         0              0              0
  78  StoveKnob       -0.568         0.903          -2.313         45             270            0
  79  StoveKnob       -0.568         0.903          -2.470         45             270            0
  80  StoveKnob       -0.568         0.903          -2.166         45             270            0
  81  StoveKnob       -0.568         0.903          -2.003         45             270            0
  82  Microwave       -0.143         0.903          -0.908         0              270            0
  83  LightSwitch     -1.108         1.457          0.338          0              180            0
  84  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  85  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  86  Fridge          -3.188         0.0            -2.184         0              0              0
  87  SinkBasin       -1.786         0.779          -3.747         0              0              0
  88  Toaster         -0.230         0.903          -3.406         0              270            0
  89  DiningTable     -2.800         0.003          -0.505         0              0              0
  90  Chair           -3.044         0.003          -1.223         0              32.194         0
  91  Faucet          -1.791         1.136          -3.913         0              270            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn to your right and walk across the kitchen, then turn to the counter top on your right.  | STEP 2: Pick up the knife on the edge of the counter top.  | STEP 3: Turn around and go to the table across from you.  | STEP 4: Cut the potato between the fork and the head of lettuce, on the table, into slices.  | STEP 5: Turn around and go to the counter top to the right of the microwave across from you.  | STEP 6: Place the knife on the plate, that is on the counter top.  | STEP 7: Turn around and go back to the table across from you.  | STEP 8: Pick up one of the potato slices previously cut.  | STEP 9: Turn to your left and go to the refrigerator on your right.  | STEP 10: Place the potato slice in front of the coffee cup, on the top shelf of the refrigerator, wait a moment for the potato slice to chill, then remove the potato slice from the refrigerator.  | STEP 11: Turn around and go back to the counter top to the right of the microwave.  | STEP 12: Place the potato slice on the counter, to the right of the plate and knife.  | END