Task: put chilled potato inside kitchen sink

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           0.900          2.25           0              0              0
   1  Potato          -2.851         0.866          3.554          0              0              0              71
   2  Potato          -1.317         0.943          1.143          0              90             0              89
   3  Potato          0.902          0.067          2.918          0              0              0              82
   4  ButterKnife     -0.524         0.900          1.143          0              90             0              89
   5  Pot             0.642          0.850          1.768          0              0              0              75
   6  Spatula         0.650          0.838          0.895          0              90             0              48
   7  Spatula         1.024          0.838          2.371          0              90             0              53
   8  Fork            -2.779         0.823          3.405          0              0              0              71
   9  Fork            -1.336         0.823          3.556          0              0              0              71
  10  Egg             -2.707         0.859          3.405          0              0              0              71
  11  Plate           -1.359         1.687          3.897          0              0              0              76
  12  Plate           -1.767         0.131          3.675          0              0              0              70
  13  Cup             -2.463         1.398          3.936          0              0              0              46
  14  Knife           -1.169         0.846          3.902          0              270            0              71
  15  Knife           -1.317         0.923          1.452          0              180            0              89
  16  Bowl            0.703          0.123          0.981          0              0              0              50
  17  PepperShaker    -2.463         1.630          2.758          0              0              0              61
  18  Bread           -2.636         1.048          2.333          0              90             0              80
  19  Apple           -1.317         0.961          1.555          0              90             0              89
  20  Plate           -1.697         1.687          3.897          0              0              0              43
  21  Fork            0.950          0.823          0.984          0              0              0              48
  22  Bread           0.827          0.861          2.449          0              0              0              48
  23  Spatula         0.712          0.848          2.134          0              200.845        0              53
  24  PaperTowelRoll  -0.789         1.004          1.246          0              90             0              89
  25  Potato          1.024          0.866          1.072          0              0              0              48
  26  SoapBottle      -0.657         0.900          1.143          0              90             0              89
  27  Egg             -2.744         1.643          2.333          0              90             0              80
  28  Cup             -1.317         0.900          0.937          0              90             0              89
  29  Pot             0.913          0.850          1.375          0              0              0              47
  30  SaltShaker      -0.524         0.896          0.937          0              90             0              89
  31  Pan             -2.667         0.812          3.74           0              137.145        0              71
  32  PepperShaker    -1.053         0.896          1.555          0              90             0              89
  33  ButterKnife     -2.497         0.823          3.575          0              0              0              71
  34  Tomato          -2.461         1.259          2.165          0              90             0              80
  35  DishSponge      0.702          0.691          2.496          0              0              0              45
  36  Lettuce         -0.580         0.956          1.358          31.822         0              0              89
  37  Spoon           -2.058         0.699          3.632          0              90             0              60
  38  Apple           -1.185         0.961          1.555          0              90             0              89
  39  Knife           -0.921         0.923          1.349          0              270            0              89
  40  Mug             -1.109         0.940          1.203          0              0              0              89
  41  Bowl            0.781          0.124          2.198          0              0              0              63
  42  Drawer          0.729          0.703          2.199          0              0              0
  43  Cabinet         -1.962         1.926          3.733          0              0              0
  44  Cabinet         -2.377         2.014          1.058          0              0              0
  45  Drawer          0.729          0.703          2.532          0              0              0
  46  Cabinet         -2.622         1.925          3.733          0              0              0
  47  StoveBurner     0.913          0.843          1.375          0              0              0
  48  CounterTop      0.864          0.858          0.984          0              0              0
  49  Cabinet         -1.976         1.779          3.734          0              0              0
  50  Cabinet         0.580          0.385          0.819          0              0              0
  51  Cabinet         -2.379         1.408          1.677          0              0              0
  52  Cabinet         -0.419         1.703          3.736          0              0              0
  53  CounterTop      0.864          0.858          2.371          0              0              0
  54  Sink            -1.702         0.726          3.828          0              180            0
  55  Cabinet         0.580          0.385          2.694          0              0              0
  56  Cabinet         -2.379         0.637          1.677          0              0              0
  57  Cabinet         -0.419         0.674          3.736          0              0              0
  58  Cabinet         -2.377         2.014          2.558          0              0              0
  59  Drawer          0.729          0.703          0.980          0              0              0
  60  Drawer          -2.114         0.706          3.657          0              0              0
  61  Cabinet         -2.377         1.691          2.572          0              0              0
  62  Cabinet         -2.951         1.925          3.733          0              0              0
  63  Cabinet         0.580          0.385          2.360          0              0              0
  64  Cabinet         -2.426         0.435          3.421          0              0              0
  65  StoveBurner     0.642          0.843          1.375          0              0              0
  66  Cabinet         -2.377         1.927          1.686          0              0              0
  67  Cabinet         -2.377         2.013          3.177          0              0              0
  68  Cabinet         -1.136         0.385          3.516          0              0              0
  69  StoveBurner     0.913          0.843          1.768          0              0              0
  70  Cabinet         -1.974         0.385          3.516          0              0              0
  71  CounterTop      -2.081         0.858          3.799          0              0              0
  72  Cabinet         -2.426         0.435          3.174          0              0              0
  73  Cabinet         -2.377         2.014          1.693          0              0              0
  74  Cabinet         -1.986         0.385          3.511          0              0              0
  75  StoveBurner     0.642          0.843          1.768          0              0              0
  76  Cabinet         -1.098         1.926          3.729          0              0              0
  77  Microwave       -1.529         1.250          3.881          1.622          180            0
  78  CoffeeMachine   1.000          0.812          2.492          0              270            0
  79  LightSwitch     0.825          1.396          4.082          0              180            0
  80  Fridge          -2.642         0.0            2.134          0              180            0
  81  Window          -1.131         1.673          0.808          90             0              0
  82  GarbageCan      0.931          -0.000         2.918          0              0              0
  83  SinkBasin       -1.601         0.686          3.774          0              0              0
  84  StoveKnob       1.104          1.002          1.886          0              0              70.346
  85  StoveKnob       1.104          1.002          1.733          0              0              70.346
  86  StoveKnob       1.104          1.002          1.321          0              0              70.346
  87  StoveKnob       1.104          1.002          1.481          0              0              70.346
  88  Toaster         -2.247         0.812          3.862          0              180            0
  89  DiningTable     -0.917         -0.000         1.203          0              0              0
  90  Stool           -0.932         0.000          1.404          1.196          21.715         0
  91  Faucet          -1.842         0.809          3.984          0              180            0
  92  Faucet          -1.371         0.809          3.985          0              180            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: walk to face counter to right of the oven | STEP 2: pick up potato from counter top | STEP 3: walk to face fridge | STEP 4: chill potato inside fridge, remove potato from fridge | STEP 5: walk to face sinks | STEP 6: put potato in left hand sink | END