Task: clean up potato's and put them into 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           -0.5           0.900          2.25           0              0              0
   1  Potato          -1.486         1.402          3.836          0              180            0              75
   2  Potato          -1.053         0.943          1.555          0              90             0              87
   3  DishSponge      -0.524         0.900          0.937          0              90             0              87
   4  DishSponge      0.737          0.690          0.944          0              0              0              57
   5  ButterKnife     -2.851         0.823          3.554          0              0              0              69
   6  Spatula         0.950          0.838          2.631          0              180            0              51
   7  Spoon           -1.909         0.698          3.774          0              90             0              81
   8  Spoon           -1.317         0.901          1.246          0              0              0              87
   9  Fork            0.839          0.691          0.944          0              90             0              57
  10  Fork            -0.789         0.901          1.246          0              90             0              87
  11  Egg             0.650          0.859          2.371          0              0              0              51
  12  Cup             -1.309         0.697          3.691          0              0              0              81
  13  Cup             -1.138         0.822          3.637          0              0              0              69
  14  SoapBottle      -0.524         0.900          1.246          0              90             0              87
  15  Bowl            -2.519         0.993          2.333          0              90             0              78
  16  PepperShaker    0.650          0.819          2.631          0              0              0              51
  17  PepperShaker    -2.542         1.845          1.801          0              0              0              71
  18  Plate           0.743          0.129          2.533          0              0              0              53
  19  Fork            -1.185         0.901          1.452          0              90             0              87
  20  Bread           0.827          0.861          2.449          0              0              0              46
  21  Spatula         1.099          0.838          0.895          0              90             0              46
  22  PaperTowelRoll  -1.317         1.004          1.452          0              270            0              87
  23  Potato          -2.851         0.866          3.479          0              0              0              69
  24  SoapBottle      -1.293         0.127          3.636          0              0              0              66
  25  Egg             -1.317         0.936          0.937          0              90             0              87
  26  Cup             -1.216         0.822          3.545          0              0              0              69
  27  Pot             0.913          0.850          1.768          0              0              0              67
  28  SaltShaker      1.024          0.819          2.371          0              0              0              51
  29  Pan             -2.667         0.812          3.74           0              137.145        0              69
  30  PepperShaker    0.859          0.121          0.942          0              0              0              46
  31  ButterKnife     -0.789         0.900          1.555          0              180            0              87
  32  Tomato          -0.657         0.969          1.452          0              90             0              87
  33  DishSponge      0.770          0.691          2.460          0              0              0              43
  34  Lettuce         -1.317         0.976          1.555          0              90             0              87
  35  Spoon           -2.868         0.824          3.947          0              0              0              69
  36  Apple           -1.538         1.420          3.967          0              180            0              75
  37  Knife           -1.457         0.846          3.577          0              0              0              69
  38  Mug             -1.468         0.692          3.733          0              0              0              81
  39  Bowl            -2.519         0.765          2.277          0              90             0              78
  40  Drawer          0.729          0.703          2.199          0              0              0
  41  Cabinet         -1.962         1.926          3.733          0              0              0
  42  Cabinet         -2.377         2.014          1.058          0              0              0
  43  Drawer          0.729          0.703          2.532          0              0              0
  44  Cabinet         -2.622         1.925          3.733          0              0              0
  45  StoveBurner     0.913          0.843          1.375          0              0              0
  46  CounterTop      0.864          0.858          0.984          0              0              0
  47  Cabinet         -1.976         1.779          3.734          0              0              0
  48  Cabinet         0.580          0.385          0.819          0              0              0
  49  Cabinet         -2.379         1.408          1.677          0              0              0
  50  Cabinet         -0.419         1.703          3.736          0              0              0
  51  CounterTop      0.864          0.858          2.371          0              0              0
  52  Sink            -1.702         0.726          3.828          0              180            0
  53  Cabinet         0.580          0.385          2.694          0              0              0
  54  Cabinet         -2.379         0.637          1.677          0              0              0
  55  Cabinet         -0.419         0.674          3.736          0              0              0
  56  Cabinet         -2.377         2.014          2.558          0              0              0
  57  Drawer          0.729          0.703          0.980          0              0              0
  58  Drawer          -2.114         0.706          3.657          0              0              0
  59  Cabinet         -2.377         1.691          2.572          0              0              0
  60  Cabinet         -2.951         1.925          3.733          0              0              0
  61  Cabinet         0.580          0.385          2.360          0              0              0
  62  Cabinet         -2.426         0.435          3.421          0              0              0
  63  StoveBurner     0.642          0.843          1.375          0              0              0
  64  Cabinet         -2.377         1.927          1.686          0              0              0
  65  Cabinet         -2.377         2.013          3.177          0              0              0
  66  Cabinet         -1.136         0.385          3.516          0              0              0
  67  StoveBurner     0.913          0.843          1.768          0              0              0
  68  Cabinet         -1.974         0.385          3.516          0              0              0
  69  CounterTop      -2.081         0.858          3.799          0              0              0
  70  Cabinet         -2.426         0.435          3.174          0              0              0
  71  Cabinet         -2.377         2.014          1.693          0              0              0
  72  Cabinet         -1.986         0.385          3.511          0              0              0
  73  StoveBurner     0.642          0.843          1.768          0              0              0
  74  Cabinet         -1.098         1.926          3.729          0              0              0
  75  Microwave       -1.529         1.250          3.881          1.622          180            0
  76  CoffeeMachine   1.000          0.812          2.492          0              270            0
  77  LightSwitch     0.825          1.396          4.082          0              180            0
  78  Fridge          -2.642         0.0            2.134          0              180            0
  79  Window          -1.131         1.673          0.808          90             0              0
  80  GarbageCan      0.931          -0.000         2.918          0              0              0
  81  SinkBasin       -1.601         0.686          3.774          0              0              0
  82  StoveKnob       1.104          1.002          1.886          0              0              70.346
  83  StoveKnob       1.104          1.002          1.733          0              0              70.346
  84  StoveKnob       1.104          1.002          1.321          0              0              70.346
  85  StoveKnob       1.104          1.002          1.481          0              0              70.346
  86  Toaster         -2.247         0.812          3.862          0              180            0
  87  DiningTable     -0.917         -0.000         1.203          0              0              0
  88  Stool           -0.932         0.000          1.404          1.196          21.715         0
  89  Faucet          -1.842         0.809          3.984          0              180            0
  90  Faucet          -1.371         0.809          3.985          0              180            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: walk straight then turn left then walk straight towards the oven | STEP 2: pick up the potato on the counter top next to the oven | STEP 3: turn around and walk straight then turn left at the sink | STEP 4: put the potato down inside of the sink | STEP 5: turn right then walk straight then turn left towards the sink | STEP 6: open the microwave and take out the potato and close the microwave door | STEP 7: turn left walk straight then turn right towards the sink and look down | STEP 8: put the potato down inside the sink next to the other potato  | END