Task: To cut a vegetable plus put a slice of it into a pot as well as set the pot on the counter.

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            0.908          1.25           0              0              0
   1  SprayBottle     1.087          0.116          0.071          0              0              0              61
   2  Potato          1.450          0.931          2.153          0              0              0              99
   3  Potato          -0.919         0.794          1.902          0              0              0              48
   4  CellPhone       -1.475         0.747          2.087          0              0              0              48
   5  DishSponge      1.049          0.911          -0.144         0              0              0              67
   6  DishSponge      0.994          2.154          -0.787         0              0              0              51
   7  Spoon           0.165          0.759          -0.573         0              270            0              94
   8  Spoon           -1.099         0.777          -0.205         0              90             0              71
   9  Fork            -1.437         0.912          -0.477         0              0              0              73
  10  Spatula         -0.144         0.773          -0.612         0              180            0              94
  11  Pot             0.502          0.939          -0.469         0              0              0              80
  12  Cup             -1.105         0.748          1.902          0              0              0              48
  13  Cup             1.365          0.910          0.422          0              0              0              67
  14  Plate           -1.197         0.749          2.644          0              0              0              48
  15  Tomato          -1.378         0.800          0.673          0              90             0              87
  16  Tomato          -1.105         0.798          2.087          0              0              0              48
  17  Bowl            1.128          0.909          0.139          0              0              0              67
  18  Bowl            0.127          0.115          -0.533         0              0              0              62
  19  Lettuce         1.200          0.957          2.261          0              0              0              99
  20  Lettuce         -1.320         1.492          0.778          0              90             0              87
  21  PepperShaker    1.207          0.907          0.706          0              0              0              67
  22  Bread           1.128          0.974          0.422          0              0              0              67
  23  Glassbottle     -1.149         0.751          0.778          0              90             0              87
  24  Fork            1.245          0.875          2.505          0              333.480        0              99
  25  Kettle          -1.357         0.739          3.024          0              240.000        0              48
  26  Tomato          1.367          0.936          2.369          0              0              0              99
  27  Plate           1.286          0.912          -0.144         0              0              0              67
  28  CellPhone       1.128          0.909          -0.428         0              0              0              67
  29  Lettuce         -1.383         0.820          2.459          0              0              0              48
  30  Pot             0.802          0.939          -0.740         0              90             0              76
  31  SoapBottle      1.294          2.158          0.686          0              0              0              58
  32  WineBottle      -1.149         0.752          1.197          0              90             0              87
  33  Spatula         -0.919         0.764          2.644          0              0              0              48
  34  Bowl            -0.211         0.115          -0.533         0              0              0              63
  35  Apple           1.414          0.146          1.440          0              0              0              88
  36  Cup             1.450          0.885          2.584          0              0              0              99
  37  Knife           -1.012         0.771          2.087          0              90             0              48
  38  Egg             -1.263         1.035          0.150          0              90             0              93
  39  SaltShaker      1.286          0.907          -0.428         0              0              0              67
  40  PepperShaker    1.267          1.656          0.135          0              0              0              49
  41  Potato          -0.919         0.794          2.830          0              0              0              48
  42  ButterKnife     1.117          0.886          2.800          0              0              0              99
  43  DishSponge      1.034          0.885          2.153          0              0              0              99
  44  Pan             -1.332         0.9            -0.699         0              345.0          0              73
  45  Spoon           1.155          0.777          1.050          0              90             0              77
  46  SprayBottle     1.444          0.910          0.422          0              0              0              67
  47  Mug             -1.296         1.010          -0.005         0              90             0              93
  48  DiningTable     -1.182         0.006          2.414          0              90             0
  49  Cabinet         1.184          2.059          0.375          0              0              0
  50  Cabinet         1.184          2.059          -0.635         0              0              0
  51  Cabinet         0.591          2.309          -0.645         0              0              0
  52  Cabinet         -0.574         2.059          -0.644         0              0              0
  53  Cabinet         -1.103         2.059          -0.644         0              0              0
  54  Cabinet         -1.185         2.059          -0.331         0              0              0
  55  Cabinet         -1.185         2.059          -0.281         0              0              0
  56  Cabinet         -1.185         2.059          0.375          0              0              0
  57  Cabinet         1.184          2.309          1.174          0              0              0
  58  Cabinet         1.184          2.309          0.424          0              0              0
  59  Cabinet         0.988          0.402          0.581          0              0              0
  60  Cabinet         0.988          0.402          0.531          0              0              0
  61  Cabinet         0.988          0.402          -0.178         0              0              0
  62  Cabinet         0.335          0.402          -0.348         0              0              0
  63  Cabinet         -0.374         0.402          -0.348         0              0              0
  64  Cabinet         0.988          0.402          1.231          0              0              0
  65  Cabinet         -1.185         2.309          1.374          0              0              0
  66  Cabinet         -1.185         2.309          0.424          0              0              0
  67  CounterTop      1.274          0.947          0.064          0              0              0
  68  Drawer          1.116          0.792          -0.015         0              0              0
  69  Drawer          -1.116         0.792          0.210          0              180            0
  70  Cabinet         -0.990         0.402          0.374          0              180            0
  71  Drawer          -1.116         0.792          -0.170         0              180            0
  72  Cabinet         -0.990         0.402          -0.335         0              180            0
  73  CounterTop      -1.001         0.947          -0.669         0              0              0
  74  StoveBurner     0.502          0.932          -0.740         0              90             0
  75  StoveBurner     0.801          0.932          -0.473         0              0              0
  76  StoveBurner     0.801          0.932          -0.740         0              90             0
  77  Drawer          1.116          0.792          1.081          0              0              0
  78  Sink            -0.013         0.912          -0.615         0              0              0
  79  Drawer          1.116          0.792          0.732          0              0              0
  80  StoveBurner     0.502          0.932          -0.469         0              0              0
  81  Drawer          1.116          0.792          0.367          0              0              0
  82  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  83  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  86  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  87  Fridge          -1.300         0.008          0.987          0              90             0
  88  GarbageCan      1.296          -0.024         1.465          0              0              0
  89  Window          -0.012         1.641          -0.972         90             0              0
  90  Window          1.598          1.646          2.489          90             270            0
  91  Toaster         1.356          0.900          1.044          0              270            0
  92  LightSwitch     0.118          1.353          3.799          0              180            0
  93  Microwave       -1.343         0.900          0.053          0              90             0
  94  SinkBasin       -0.029         0.748          -0.612         0              0              0
  95  Faucet          -0.026         0.927          -0.808         0              0              0
  96  Shelf           -1.182         0.127          2.414          0              90             0
  97  Stool           1.140          0.007          3.262          1.206          20.753         0
  98  Shelf           -1.182         0.435          2.414          0              90             0
  99  DiningTable     1.169          0.014          2.569          0              0              1.896
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Walk around to the opposite end of the kitchen table on the right and face the end. | STEP 2: Pick up the knife of the table. | STEP 3: Turn to the right and walk forward to the table across room and face it. | STEP 4: Cut the green vegetable on the table into slices. | STEP 5: Turn to the left and walk forward to face the counter to the right of the sink. | STEP 6: Set the knife on the counter. | STEP 7: Turn around and walk halfway across the room, then face the table on the left. | STEP 8: Pick up a slice of the cut vegetable on the table. | STEP 9: Turn around, walk across the room, then turn right and walk forward to face the stove. | STEP 10: Put the slice of vegetable in the pot on the bottom right corner of the stove. | STEP 11: Pick up the pot with the slice of vegetable in it. | STEP 12: Turn to the right, walk across the room and face the counter on the left. | STEP 13: Set the pot with the vegetable in it on the counter to the right of the knife. | END