Task: To heat a potato slice and place it 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           0.900          0.75           0              90             0
   1  Potato          -1.962         0.458          1.459          0              270            0              96
   2  DishSponge      -0.734         0.820          -1.400         0              0              0              102
   3  Kettle          1.135          0.115          -0.495         0              180            0              51
   4  Kettle          0.281          0.964          1.347          0              0              0              58
   5  ButterKnife     2.488          0.911          1.299          0              0              0              78
   6  ButterKnife     -1.056         0.820          -1.257         0              90             0              102
   7  Pot             1.688          0.915          1.468          0              0              0              78
   8  Pot             1.955          0.915          1.383          0              0              0              78
   9  Fork            2.221          0.912          1.214          0              0              0              78
  10  Spatula         -0.621         0.835          -1.206         0              270            0              102
  11  Cup             -0.836         0.818          -1.328         0              0              0              102
  12  Cup             2.838          1.016          -0.578         0              0              0              98
  13  Egg             -0.734         0.858          -1.183         0              0              0              102
  14  SoapBottle      2.208          1.661          -0.835         0              180            0              64
  15  Tomato          2.777          1.594          -0.447         0              0              0              98
  16  Tomato          1.422          0.942          1.553          0              0              0              78
  17  SaltShaker      0.125          2.153          1.350          0              0              0              77
  18  SaltShaker      -0.983         0.817          -1.411         0              90             0              102
  19  Mug             -0.198         0.906          1.044          0              0              0              54
  20  SoapBottle      1.872          0.120          -0.383         0              180            0              89
  21  Plate           2.211          0.902          -0.462         0              0              0              43
  22  Fork            -0.159         0.771          1.122          0              90             0              48
  23  Pot             1.155          0.915          1.214          0              0              0              78
  24  Bread           1.03           0.953          -0.519         0              0              0              43
  25  Egg             -1.962         0.461          1.247          0              270            0              96
  26  Kettle          1.688          0.912          1.214          0              0              0              78
  27  Tomato          2.838          1.050          -0.709         0              0              0              98
  28  Cup             -0.103         0.909          1.468          0              0              0              54
  29  Spatula         0.888          0.926          -0.6           0              90             0              43
  30  Apple           2.221          0.980          1.044          0              0              0              78
  31  Pan             0.634          0.911          -0.430         0              90             0              43
  32  Lettuce         0.634          0.992          -0.684         0              0              0              43
  33  SaltShaker      1.597          1.650          1.585          0              0              0              66
  34  Knife           0.193          0.798          -0.596         0              270            0              100
  35  Potato          2.777          1.323          -0.644         0              0              0              98
  36  PepperShaker    1.632          0.111          -0.498         0              180            0              60
  37  ButterKnife     2.754          0.911          1.129          0              0              0              78
  38  Bowl            0.865          2.151          1.468          0              0              0              52
  39  DishSponge      2.543          0.771          1.160          0              0              0              59
  40  Spoon           -0.887         0.822          -1.473         0              0              0              102
  41  Mug             -0.103         0.906          1.298          0              0              0              54
  42  Sink            0.050          0.902          -0.648         0              0              0
  43  CounterTop      1.358          0.947          -0.600         0              0              0
  44  Cabinet         2.986          2.009          1.304          0              0              0
  45  Cabinet         1.022          2.009          -0.607         0              180            0
  46  StoveBurner     0.678          0.923          1.082          0              0              0
  47  Cabinet         2.371          0.402          0.995          0              0              0
  48  Drawer          -0.125         0.792          0.995          0              0              0
  49  StoveBurner     0.281          0.923          1.082          0              0              0
  50  Cabinet         1.025          0.402          0.995          0              0              0
  51  Cabinet         1.023          0.402          -0.296         0              180            0
  52  Cabinet         0.974          2.259          1.304          0              0              0
  53  Cabinet         0.979          2.009          -0.607         0              180            0
  54  CounterTop      -0.158         0.947          1.299          0              0              0
  55  Cabinet         1.725          2.009          1.304          0              0              0
  56  Drawer          2.205          0.792          -0.294         0              180            0
  57  Drawer          1.869          0.792          -0.294         0              180            0
  58  StoveBurner     0.281          0.923          1.347          0              0              0
  59  Drawer          2.512          0.792          0.995          0              0              0
  60  Cabinet         1.673          0.402          -0.296         0              180            0
  61  Drawer          1.524          0.792          0.995          0              0              0
  62  Drawer          1.174          0.792          -0.294         0              180            0
  63  Cabinet         1.720          0.402          0.995          0              0              0
  64  Cabinet         2.348          2.009          -0.607         0              180            0
  65  Cabinet         1.676          2.009          -0.607         0              180            0
  66  Cabinet         1.673          2.009          1.304          0              0              0
  67  Cabinet         2.326          2.009          1.304          0              0              0
  68  Cabinet         2.370          2.009          1.304          0              0              0
  69  Cabinet         0.021          2.009          1.304          0              0              0
  70  Cabinet         1.025          2.009          1.304          0              0              0
  71  Cabinet         -0.274         0.402          0.995          0              0              0
  72  Cabinet         1.675          0.402          0.995          0              0              0
  73  Drawer          1.524          0.792          -0.294         0              180            0
  74  Drawer          2.187          0.792          0.995          0              0              0
  75  Cabinet         2.977          0.402          0.995          0              0              0
  76  Drawer          1.862          0.792          0.995          0              0              0
  77  Cabinet         0.072          2.259          1.304          0              0              0
  78  CounterTop      1.917          0.947          1.299          0              0              0
  79  Cabinet         2.328          0.402          0.995          0              0              0
  80  Cabinet         1.723          2.009          -0.607         0              180            0
  81  StoveBurner     0.677          0.923          1.345          0              0              0
  82  Cabinet         0.355          2.009          -0.607         0              180            0
  83  Cabinet         0.332          2.009          -0.607         0              180            0
  84  Cabinet         2.349          0.402          -0.296         0              180            0
  85  Cabinet         -0.284         2.009          -0.607         0              180            0
  86  Faucet          0.061          0.906          -0.903         0              0              0
  87  Drawer          2.837          0.792          0.995          0              0              0
  88  Drawer          1.175          0.792          0.995          0              0              0
  89  Cabinet         1.723          0.402          -0.296         0              180            0
  90  StoveKnob       0.588          1.093          1.557          287.970        0              0
  91  StoveKnob       0.188          1.093          1.557          287.970        0              0
  92  StoveKnob       0.749          1.093          1.557          287.970        0              0
  93  StoveKnob       0.338          1.093          1.557          287.970        0              0
  94  Toaster         1.934          0.900          -0.717         0              0              0
  95  LightSwitch     -1.662         1.427          1.649          0              180            0
  96  GarbageCan      -1.965         -0.029         1.358          0              270            0
  97  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  98  Fridge          3.043          0.0            -0.709         0              0              0
  99  Window          -2.183         1.501          -0.014         90             270            0
 100  SinkBasin       0.043          0.755          -0.651         0              0              0
 101  Microwave       0.531          1.675          1.437          0              180            0
 102  DiningTable     -0.836         8.404          -1.258         0              0              0
 103  Chair           -1.611         0.002          -1.185         0              45             0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and cross the room and turn right to face the trash can. | STEP 4: Cut the potato in the trash can into slices. | STEP 5: Turn around and walk forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk to the left to face the trash can. | STEP 8: Pick up a potato slice in the trash can. | STEP 9: Turn right and walk forward and turn left and look up to face the microwave. | STEP 10: Heat the potato in the microwave and remove it. | STEP 11: Turn around and step forward to face the sink. | STEP 12: Place the potato slice in the sink. | END