Task: Place a cooked potato slice in 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           -2.25          0.899          2.5            0              180            0
   1  Pan             -4.108         0.923          4.640          0              90             0              72
   2  Pencil          -0.532         0.747          5.841          0              270            0              83
   3  DishSponge      -4.054         0.077          2.367          0              0              0              82
   4  ButterKnife     -3.374         0.923          5.412          0              90             0              72
   5  ButterKnife     -1.777         0.923          2.026          0              180            0              54
   6  Pot             -2.924         0.930          2.012          0              0              0              55
   7  Fork            -4.249         0.756          2.679          0              90             0              52
   8  Fork            -0.258         0.925          4.615          0              0              0              57
   9  Spoon           -1.943         0.924          1.724          0              0              0              54
  10  Spoon           -4.172         0.924          2.300          0              0              0              72
  11  Cup             -0.104         0.923          4.615          0              0              0              57
  12  Plate           -0.488         0.925          4.615          0              0              0              57
  13  Tomato          -0.342         1.742          3.915          0              270            0              105
  14  Bowl            -4.171         0.074          2.246          0              0              0              82
  15  Bowl            -1.981         1.450          1.638          0              0              0              91
  16  PepperShaker    -0.334         0.921          4.944          0              0              0              62
  17  Lettuce         -3.494         1.018          5.489          0              90             0              72
  18  Lettuce         -4.233         0.886          3.410          0              270            0              104
  19  Bread           -0.411         1.004          5.273          0              0              0              57
  20  Apple           -3.135         0.976          5.566          0              90             0              72
  21  Apple           -4.312         0.976          2.649          0              0              0              72
  22  Egg             -2.026         0.959          1.648          0              0              0              54
  23  Apple           -4.159         0.844          3.222          0              270            0              104
  24  Knife           -3.852         0.953          5.336          0              90             0              72
  25  Potato          -0.242         1.104          3.602          0              270            0              105
  26  Fork            -4.033         0.924          4.122          0              90             0              72
  27  Bowl            -0.401         1.067          3.726          0              270            0              105
  28  Plate           -1.943         0.924          1.951          0              0              0              54
  29  Lettuce         -3.748         0.164          6.292          0              270            0              98
  30  Bread           -0.565         1.004          4.944          0              0              0              57
  31  Tomato          -0.259         1.392          3.974          0              270            0              105
  32  WineBottle      -4.051         0.078          4.584          0              0              0              65
  33  Spatula         -0.181         0.940          5.603          0              0              0              57
  34  PaperTowelRoll  -0.181         1.029          5.273          0              0              0              57
  35  Cup             -2.530         1.545          1.633          0              0              0              102
  36  Pencil          -0.258         0.925          4.615          0              0              0              57
  37  Pan             -2.454         0.933          2.023          0              240.000        0              60
  38  Pot             -2.469         0.930          1.712          0              270            0              87
  39  SaltShaker      -0.488         0.921          5.603          0              0              0              51
  40  SoapBottle      -2.109         0.923          1.875          0              0              0              54
  41  PepperShaker    -3.474         0.079          5.074          0              90             0              90
  42  ButterKnife     -1.777         0.923          1.875          0              0              0              54
  43  DishSponge      -4.312         0.923          2.533          0              0              0              72
  44  Spoon           -4.312         0.924          2.882          0              180            0              72
  45  Mug             -0.409         0.955          6.557          0              270            0              93
  46  Cabinet         -3.203         1.931          1.777          0              0              0
  47  Cabinet         -3.187         0.390          2.089          0              0              0
  48  Cabinet         -0.637         0.387          6.882          0              180            0
  49  Drawer          -3.797         0.781          1.961          0              0              0
  50  Cabinet         -3.036         0.387          5.029          0              90             0
  51  Drawer          -0.509         0.775          5.268          0              270            0
  52  Drawer          -4.125         0.798          2.499          0              0              0
  53  Cabinet         -0.331         2.249          4.308          0              180            0
  54  CounterTop      -1.872         0.958          1.799          0              0              0
  55  StoveBurner     -2.924         0.924          2.012          0              0              0
  56  Cabinet         -0.331         2.249          6.806          0              180            0
  57  CounterTop      -0.345         0.960          5.603          0              0              0
  58  Cabinet         -3.039         1.935          5.321          0              90             0
  59  Cabinet         -3.922         0.397          2.088          0              0              0
  60  StoveBurner     -2.467         0.924          2.012          0              0              0
  61  Cabinet         -0.331         2.249          5.505          0              180            0
  62  Drawer          -0.509         0.775          4.617          0              270            0
  63  Drawer          -3.509         0.777          5.157          0              180            0
  64  Cabinet         -3.961         0.388          2.878          0              0              0
  65  Cabinet         -3.961         0.388          4.342          0              0              0
  66  Cabinet         -0.637         0.387          5.582          0              180            0
  67  Cabinet         -0.637         0.388          4.299          0              180            0
  68  Cabinet         -0.637         0.388          5.599          0              180            0
  69  StoveBurner     -2.924         0.924          1.712          0              180            0
  70  Drawer          -1.859         0.775          1.961          0              0              0
  71  Cabinet         -0.331         2.249          5.609          0              180            0
  72  CounterTop      -4.260         0.958          4.943          0              90             0
  73  Cabinet         -4.284         1.931          2.226          0              0              0
  74  Cabinet         -0.331         2.249          3.010          0              180            0
  75  Drawer          -3.801         0.777          5.157          0              180            0
  76  Cabinet         -4.112         1.935          5.321          0              90             0
  77  Cabinet         -3.968         0.388          3.662          0              0              0
  78  Drawer          -3.418         0.777          1.961          0              0              0
  79  Drawer          -4.090         0.777          4.661          0              90             0
  80  Faucet          -4.441         0.909          3.288          270            0              0
  81  Cabinet         -0.331         2.249          4.207          0              180            0
  82  Cabinet         -3.961         0.388          2.119          0              0              0
  83  Drawer          -0.509         0.775          5.920          0              270            0
  84  Drawer          -3.193         0.777          5.157          0              180            0
  85  Cabinet         -3.968         0.388          2.894          0              0              0
  86  Cabinet         -3.667         0.387          5.029          0              90             0
  87  StoveBurner     -2.469         0.924          1.712          0              270            0
  88  Cabinet         -1.539         0.388          2.090          0              0              0
  89  Sink            -4.190         0.921          3.279          0              0              0
  90  Cabinet         -3.641         0.387          5.029          0              90             0
  91  Cabinet         -1.583         1.931          1.777          0              0              0
  92  Drawer          -0.509         0.775          6.568          0              270            0
  93  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  94  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  96  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  97  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  98  GarbageCan      -3.711         -0.030         6.376          0              270            0
  99  Toaster         -3.578         0.912          1.763          0              0              0
 100  Curtains        -4.522         2.252          3.391          90             90             0
 101  Window          -4.868         1.629          3.309          90             270            0
 102  Microwave       -2.693         1.430          1.689          0              0              0
 103  LightSwitch     -1.588         1.169          1.506          0              0              0
 104  SinkBasin       -4.196         0.780          3.276          0              270            0
 105  Fridge          -0.324         -0.001         3.602          0              0              0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: turn to the right twice and to to the end of the counter top and turn to the left and go to the end of the counter top | STEP 2: take the knife from the counter top | STEP 3: turn to the left and go to the front of the refrigerator and turn to the left and go to the refrigerator | STEP 4: open the refrigerator door and slice up the potato on the shelf with the knife and close the refrigerator door | STEP 5: turn to the right twice and take a few steps and turn to the left and go to the microwave | STEP 6: open the microwave door and put the knife in it and close the microwave door | STEP 7: turn to the left twice and take a few step and turn to the right and go to the refrigerator | STEP 8: open the refrigerator door and take a potato slice from the shelf and close the refrigerator door | STEP 9: turn to the right twice and take a few steps and turn to the left and go to the microwave | STEP 10: put the potato slice in the microwave and cook it and when finish cooking take out the potato slice from the microwave | STEP 11: turn to the right twice and take a few steps and turn to the left and go to the sink | STEP 12: put the potato slice in the sink | END