Task: Place a clean slice of potato on the kitchen 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           0.900          -1.0           0              90             0
   1  Potato          -0.544         1.069          0.600          0              0              0              50
   2  Ladle           1.638          1.066          1.704          0              136.999        0              47
   3  ButterKnife     1.409          1.026          -1.560         0              90             0              47
   4  WineBottle      1.409          1.027          -1.667         0              90             0              47
   5  Glassbottle     2.100          0.765          3.895          0              270            0              48
   6  Spoon           2.671          0.765          3.885          0              329.999        0              48
   7  Spoon           1.609          0.802          1.637          0              317.0          0              62
   8  Egg             -1.069         0.830          -0.295         0              90             0              91
   9  Knife           2.754          1.052          1.350          0              136.999        0              47
  10  Knife           2.276          0.789          4.044          0              270            0              48
  11  Tomato          2.875          1.080          -0.846         0              0              0              47
  12  Tomato          -1.028         0.839          -0.738         0              90             0              91
  13  SoapBottle      2.478          0.763          3.682          0              225            0              48
  14  SoapBottle      -1.023         1.779          1.685          0              0              0              64
  15  Bowl            -0.645         0.814          1.181          0              90             0              104
  16  SaltShaker      2.818          0.797          0.210          0              0              0              47
  17  PepperShaker    2.243          0.760          3.657          0              225            0              48
  18  PepperShaker    -0.374         1.023          1.448          0              0              0              50
  19  Pan             -0.803         0.048          0.786          0              0              0              80
  20  Glassbottle     2.503          0.765          3.917          0              225            0              48
  21  Knife           -0.645         0.841          1.492          0              0              0              104
  22  SoapBottle      2.487          0.763          4.203          0              329.999        0              48
  23  Egg             -0.922         1.486          -0.627         0              90             0              91
  24  Fork            2.426          0.765          3.735          0              315            0              48
  25  Potato          2.163          0.806          3.997          0              225            0              48
  26  Ladle           -0.544         1.066          0.416          0              0              0              50
  27  Tomato          2.599          0.818          3.445          0              0              0              48
  28  Pot             1.836          1.027          -1.84          0              90             0              45
  29  WineBottle      2.683          0.765          4.517          0              225            0              48
  30  Plate           -0.627         0.046          1.895          0              0              0              76
  31  Spatula         1.495          0.805          -1.633         0              90             0              54
  32  PaperTowelRoll  -0.418         1.131          1.943          0              0              0              50
  33  Lettuce         1.925          0.822          4.118          0              270            0              48
  34  Apple           -1.059         1.492          -0.406         0              90             0              91
  35  SaltShaker      2.744          0.797          0.800          0              317.0          0              59
  36  PepperShaker    -0.519         0.797          2.115          0              0              0              52
  37  ButterKnife     1.297          0.790          -1.546         0              0              0              54
  38  Bread           2.800          0.832          4.118          0              270            0              48
  39  Cup             2.331          0.763          4.325          0              329.999        0              48
  40  DishSponge      2.570          0.764          3.614          0              329.999        0              48
  41  Bowl            -1.022         1.779          0.737          0              0              0              65
  42  Spoon           2.423          0.765          4.257          0              315            0              48
  43  Mug             -1.045         1.022          2.556          0              0              0              50
  44  Sink            -0.716         1.023          1.333          0              0              0
  45  StoveBurner     1.835          1.018          -1.840         0              90             0
  46  StoveBurner     2.177          1.018          -1.599         0              0              0
  47  CounterTop      2.812          0.992          0.675          0              0              0
  48  DiningTable     2.419          0.003          3.930          0              0              0
  49  Drawer          -0.643         0.828          0.616          0              0              0
  50  CounterTop      -0.813         1.062          2.188          0              0              0
  51  StoveBurner     2.115          1.018          -1.840         0              270            0
  52  Drawer          -0.643         0.831          1.953          0              0              0
  53  Drawer          -0.643         0.833          2.418          0              0              0
  54  Drawer          1.347          0.836          -1.539         0              0              0
  55  Drawer          2.693          0.833          -1.131         0              0              0
  56  Drawer          2.693          0.833          -0.699         0              0              0
  57  Drawer          2.693          0.833          -0.267         0              0              0
  58  Drawer          2.693          0.833          0.163          0              0              0
  59  Drawer          2.524          0.833          0.720          0              2.000          0
  60  Drawer          2.232          0.833          1.036          0              2.000          0
  61  Drawer          1.936          0.833          1.354          0              2.000          0
  62  Drawer          1.646          0.833          1.670          0              2.000          0
  63  Cabinet         1.504          2.475          -1.710         0              0              0
  64  Cabinet         -0.823         2.220          1.621          0              0              0
  65  Cabinet         -0.823         2.220          0.615          0              0              0
  66  Cabinet         1.136          0.388          -1.355         0              0              0
  67  Cabinet         -0.356         0.383          2.626          0              0              0
  68  Cabinet         2.745          2.220          -1.690         0              0              0
  69  Cabinet         1.882          0.383          1.017          0              0              0
  70  Cabinet         1.307          0.473          1.640          0              0              0
  71  Cabinet         1.892          0.383          1.006          0              0              0
  72  Cabinet         2.467          0.383          0.383          0              0              0
  73  Cabinet         2.466          0.383          -0.475         0              0              0
  74  Cabinet         2.466          0.473          0.371          0              0              0
  75  Cabinet         2.386          2.475          -1.710         0              0              0
  76  Cabinet         -0.356         0.383          1.712          0              0              0
  77  Cabinet         2.745          2.220          0.019          0              0              0
  78  Cabinet         -0.663         2.496          0.157          0              0              0
  79  Cabinet         -0.663         2.496          -0.868         0              0              0
  80  Cabinet         -0.356         0.383          0.269          0              0              0
  81  Cabinet         -0.823         2.220          1.603          0              0              0
  82  Cabinet         -0.662         2.234          0.586          0              0              0
  83  Cabinet         2.745          2.220          -0.843         0              0              0
  84  Cabinet         2.745          2.220          -0.827         0              0              0
  85  Cabinet         -0.823         2.220          2.608          0              0              0
  86  Cabinet         2.732          2.226          -1.709         0              0              0
  87  Cabinet         1.137          2.226          -1.709         0              0              0
  88  Cabinet         2.466          0.383          -0.491         0              0              0
  89  Cabinet         2.466          0.383          -1.339         0              0              0
  90  StoveBurner     1.761          1.018          -1.599         0              0              0
  91  Fridge          -0.908         0.0            -0.405         0              0              0
  92  HousePlant      2.517          1.016          1.822          0              0              0
  93  Microwave       1.939          1.745          -1.826         0              0              0
  94  StoveKnob       2.017          1.041          -1.514         0              180            180
  95  StoveKnob       1.934          1.041          -1.514         0              180            180
  96  StoveKnob       2.017          1.041          -1.589         0              180            180
  97  StoveKnob       1.934          1.041          -1.589         0              180            180
  98  Window          1.756          1.608          4.762          90             0              0
  99  HousePlant      2.171          1.004          2.091          0              0              0
 100  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 101  LightSwitch     -0.099         1.410          -2.066         0              0              0
 102  GarbageCan      -0.951         -0.029         2.826          0              0              0
 103  Toaster         -1.007         1.018          2.238          0              90             0
 104  SinkBasin       -0.714         0.805          1.348          0              90             0
 105  Chair           1.615          0.004          4.310          0              107.976        0
 106  Faucet          -1.120         1.013          1.334          0              90             0
 107  Chair           2.759          0.004          3.086          0              358.967        0
 108
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: Turn left, walk to the edge of the countertop, then turn left and walk up to the sink.  | STEP 2: Pick up the yellow handled knife that is in the sink.  | STEP 3: Turn to the right, walk to the wall, then turn right and walk up to the table. | STEP 4: Slice the potato that is on the counter.  | STEP 5: Turn to the right, move forward a bit, then turn to the right again to go to the kitchen sink.  | STEP 6: Place the knife down in the kitchen sink. | STEP 7: Turn to the right, walk to the wall, then turn right again and walk up to the kitchen table.  | STEP 8: Pick up a slice of potato from the kitchen table.  | STEP 9: Turn to the right, move forward, then right again to walk over to the kitchen sink.  | STEP 10: Rinse off the potato slice in the sink before taking it out again.  | STEP 11: Turn to the right, walk to the end of the countertop, then turn right again and walk forward, walk to the wall, then turn left to face the table. | STEP 12: Place the slice of potato down on the table, to the left of the tomato.  | END