Task: Slice a potato, wash a slice and put it in the microwave

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           0.908          2.5            0              90             0
   1  CellPhone       1.128          0.909          0.706          0              0              0              69
   2  CellPhone       1.523          0.909          0.422          0              0              0              69
   3  DishSponge      -1.475         0.749          2.644          0              0              0              50
   4  ButterKnife     1.367          0.886          2.477          0              0              0              101
   5  ButterKnife     -1.123         0.912          -0.748         0              90             0              75
   6  Glassbottle     1.034          0.887          2.153          0              0              0              101
   7  WineBottle      -1.089         0.117          0.289          0              180            0              72
   8  Spoon           1.042          0.777          0.403          0              270            0              83
   9  Spoon           -0.144         0.759          -0.612         0              90             0              96
  10  Spatula         -0.919         0.764          2.459          0              0              0              50
  11  Spatula         1.523          0.926          0.139          0              0              0              69
  12  Pot             -1.206         1.421          1.197          0              90             0              89
  13  Plate           1.324          2.155          0.957          0              0              0              60
  14  Plate           1.034          0.887          2.692          0              0              0              101
  15  Knife           -1.105         0.770          2.273          0              0              0              50
  16  Knife           1.117          0.908          2.477          0              0              0              101
  17  Bread           -1.290         0.812          2.459          0              0              0              50
  18  Bread           -1.206         0.814          0.988          0              90             0              89
  19  SaltShaker      1.200          0.882          2.800          0              0              0              101
  20  PepperShaker    1.286          0.907          0.706          0              0              0              69
  21  Mug             -0.813         0.907          -0.589         0              0              0              75
  22  Apple           -0.206         0.818          -0.573         0              90             0              96
  23  Apple           -0.020         0.818          -0.533         0              0              0              96
  24  Bread           -1.263         1.700          1.086          0              90             0              89
  25  Glassbottle     -1.437         0.912          -0.902         0              0              0              75
  26  Fork            0.951          0.886          2.369          0              270            0              101
  27  Kettle          -0.658         0.913          -0.509         0              0              0              75
  28  Tomato          -1.378         1.338          1.092          0              90             0              89
  29  Plate           -1.012         0.749          2.087          0              0              0              50
  30  CellPhone       -1.156         0.773          0.174          0              180            0              71
  31  Lettuce         -1.012         0.820          2.830          0              0              0              50
  32  Pot             0.802          0.939          -0.740         0              90             0              78
  33  SoapBottle      -1.286         0.913          -0.902         0              0              0              75
  34  WineBottle      -1.060         0.913          -0.817         0              0              0              75
  35  Spatula         1.365          0.926          0.422          0              90             0              69
  36  Bowl            1.286          0.909          -0.144         0              0              0              69
  37  Apple           1.200          0.946          2.692          0              0              0              101
  38  Cup             1.450          0.885          2.261          0              0              0              101
  39  Knife           -1.197         0.770          1.902          0              90             0              50
  40  Egg             0.165          0.792          -0.691         0              0              0              96
  41  SaltShaker      1.131          0.112          0.808          0              0              0              61
  42  PepperShaker    -1.388         2.149          1.206          0              0              0              68
  43  Potato          1.189          0.131          1.409          0              0              0              90
  44  ButterKnife     -1.383         0.749          2.087          0              0              0              50
  45  DishSponge      1.200          0.885          2.369          0              0              0              101
  46  Pan             0.502          0.939          -0.740         0              90             0              76
  47  Spoon           1.200          0.887          2.261          0              0              0              101
  48  SprayBottle     -1.294         2.152          1.262          0              0              0              68
  49  Mug             1.215          0.943          -0.633         0              320.314        0              88
  50  DiningTable     -1.182         0.006          2.414          0              90             0
  51  Cabinet         1.184          2.059          0.375          0              0              0
  52  Cabinet         1.184          2.059          -0.635         0              0              0
  53  Cabinet         0.591          2.309          -0.645         0              0              0
  54  Cabinet         -0.574         2.059          -0.644         0              0              0
  55  Cabinet         -1.103         2.059          -0.644         0              0              0
  56  Cabinet         -1.185         2.059          -0.331         0              0              0
  57  Cabinet         -1.185         2.059          -0.281         0              0              0
  58  Cabinet         -1.185         2.059          0.375          0              0              0
  59  Cabinet         1.184          2.309          1.174          0              0              0
  60  Cabinet         1.184          2.309          0.424          0              0              0
  61  Cabinet         0.988          0.402          0.581          0              0              0
  62  Cabinet         0.988          0.402          0.531          0              0              0
  63  Cabinet         0.988          0.402          -0.178         0              0              0
  64  Cabinet         0.335          0.402          -0.348         0              0              0
  65  Cabinet         -0.374         0.402          -0.348         0              0              0
  66  Cabinet         0.988          0.402          1.231          0              0              0
  67  Cabinet         -1.185         2.309          1.374          0              0              0
  68  Cabinet         -1.185         2.309          0.424          0              0              0
  69  CounterTop      1.274          0.947          0.064          0              0              0
  70  Drawer          1.116          0.792          -0.015         0              0              0
  71  Drawer          -1.116         0.792          0.210          0              180            0
  72  Cabinet         -0.990         0.402          0.374          0              180            0
  73  Drawer          -1.116         0.792          -0.170         0              180            0
  74  Cabinet         -0.990         0.402          -0.335         0              180            0
  75  CounterTop      -1.001         0.947          -0.669         0              0              0
  76  StoveBurner     0.502          0.932          -0.740         0              90             0
  77  StoveBurner     0.801          0.932          -0.473         0              0              0
  78  StoveBurner     0.801          0.932          -0.740         0              90             0
  79  Drawer          1.116          0.792          1.081          0              0              0
  80  Sink            -0.013         0.912          -0.615         0              0              0
  81  Drawer          1.116          0.792          0.732          0              0              0
  82  StoveBurner     0.502          0.932          -0.469         0              0              0
  83  Drawer          1.116          0.792          0.367          0              0              0
  84  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  86  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  87  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  88  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  89  Fridge          -1.300         0.008          0.987          0              90             0
  90  GarbageCan      1.296          -0.024         1.465          0              0              0
  91  Window          -0.012         1.641          -0.972         90             0              0
  92  Window          1.598          1.646          2.489          90             270            0
  93  Toaster         1.356          0.900          1.044          0              270            0
  94  LightSwitch     0.118          1.353          3.799          0              180            0
  95  Microwave       -1.343         0.900          0.053          0              90             0
  96  SinkBasin       -0.029         0.748          -0.612         0              0              0
  97  Faucet          -0.026         0.927          -0.808         0              0              0
  98  Shelf           -1.182         0.127          2.414          0              90             0
  99  Stool           1.140          0.007          3.262          1.206          20.753         0
 100  Shelf           -1.182         0.435          2.414          0              90             0
 101  DiningTable     1.169          0.014          2.569          0              0              1.896
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn around, go to the counter | STEP 2: Pick up the knife nearest to the wall | STEP 3: Turn around, go to the basket | STEP 4: Slice the potato in the basket | STEP 5: Put the knife in the basket | STEP 6: Pick up a potato slice | STEP 7: Turn around, go forward, turn left and go to the sink | STEP 8: Put the potato slice in the sink, wash the potato slice with water, pick up the potato slice | STEP 9: Turn right, go to the microwave | STEP 10: Put the potato slice in the microwave | END