Task: pick up knife, cut potato, cook in microwave, place in the fridge

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          1.0            0              270            0
   1  Potato          1.444          0.956          0.706          0              0              0              68
   2  Potato          -0.082         0.803          -0.533         0              0              0              95
   3  CellPhone       -1.060         0.909          -0.817         0              0              0              74
   4  DishSponge      -1.475         0.749          2.087          0              0              0              49
   5  DishSponge      1.450          0.885          2.369          0              0              0              100
   6  ButterKnife     1.444          0.911          0.422          0              0              0              68
   7  ButterKnife     1.367          0.886          2.584          0              0              0              100
   8  Glassbottle     -1.206         0.751          0.988          0              90             0              88
   9  WineBottle      1.087          0.117          0.030          0              0              0              60
  10  WineBottle      -1.320         0.752          0.778          0              90             0              88
  11  Kettle          -1.012         0.750          1.902          0              0              0              49
  12  Pot             0.502          0.939          -0.469         0              0              0              81
  13  Cup             -1.433         0.911          -0.430         0              0              0              74
  14  Tomato          1.049          0.961          0.422          0              0              0              68
  15  Tomato          -1.320         1.686          1.289          0              90             0              88
  16  SoapBottle      1.444          0.912          -0.428         0              0              0              68
  17  SoapBottle      1.117          0.887          2.369          0              90             0              100
  18  Bowl            -1.162         0.340          0.883          0              90             0              88
  19  Bread           1.128          0.974          0.706          0              0              0              68
  20  PepperShaker    -1.357         1.652          0.260          0              0              0              57
  21  Apple           -1.475         0.809          2.644          0              0              0              49
  22  Apple           -1.435         1.697          0.781          0              90             0              88
  23  Bread           -1.197         0.813          2.459          0              0              0              49
  24  Glassbottle     1.200          0.887          2.800          0              0              0              100
  25  Fork            -0.919         0.749          2.087          0              90             0              49
  26  Kettle          -1.357         0.739          3.024          0              240.000        0              49
  27  Tomato          -1.162         0.391          1.302          0              90             0              88
  28  Plate           -1.105         0.750          3.015          0              0              0              49
  29  CellPhone       -1.475         0.746          2.273          0              0              0              49
  30  Lettuce         -0.813         0.983          -0.669         0              0              0              74
  31  Pot             0.802          0.939          -0.740         0              90             0              77
  32  SoapBottle      1.200          0.887          2.153          0              0              0              100
  33  WineBottle      1.286          0.912          -0.428         0              0              0              68
  34  Spatula         -1.290         0.764          2.459          0              0              0              49
  35  Bowl            -1.325         2.151          0.594          0              0              0              66
  36  Apple           -0.020         0.818          -0.691         0              0              0              95
  37  Cup             -1.012         0.748          2.459          0              0              0              49
  38  Knife           -0.658         0.934          -0.430         0              0              0              74
  39  Egg             -0.206         0.792          -0.573         0              0              0              95
  40  SaltShaker      -1.475         0.745          2.459          0              0              0              49
  41  PepperShaker    1.117          0.882          2.261          0              0              0              100
  42  Potato          0.951          0.931          2.584          0              0              0              100
  43  ButterKnife     1.207          0.911          0.139          0              0              0              68
  44  DishSponge      -1.105         0.748          2.830          0              0              0              49
  45  Pan             -1.332         0.9            -0.699         0              345.0          0              74
  46  Spoon           1.070          0.777          -0.049         0              90             0              69
  47  SprayBottle     1.523          0.910          0.706          0              0              0              68
  48  Mug             0.951          0.881          2.800          0              0              0              100
  49  DiningTable     -1.182         0.006          2.414          0              90             0
  50  Cabinet         1.184          2.059          0.375          0              0              0
  51  Cabinet         1.184          2.059          -0.635         0              0              0
  52  Cabinet         0.591          2.309          -0.645         0              0              0
  53  Cabinet         -0.574         2.059          -0.644         0              0              0
  54  Cabinet         -1.103         2.059          -0.644         0              0              0
  55  Cabinet         -1.185         2.059          -0.331         0              0              0
  56  Cabinet         -1.185         2.059          -0.281         0              0              0
  57  Cabinet         -1.185         2.059          0.375          0              0              0
  58  Cabinet         1.184          2.309          1.174          0              0              0
  59  Cabinet         1.184          2.309          0.424          0              0              0
  60  Cabinet         0.988          0.402          0.581          0              0              0
  61  Cabinet         0.988          0.402          0.531          0              0              0
  62  Cabinet         0.988          0.402          -0.178         0              0              0
  63  Cabinet         0.335          0.402          -0.348         0              0              0
  64  Cabinet         -0.374         0.402          -0.348         0              0              0
  65  Cabinet         0.988          0.402          1.231          0              0              0
  66  Cabinet         -1.185         2.309          1.374          0              0              0
  67  Cabinet         -1.185         2.309          0.424          0              0              0
  68  CounterTop      1.274          0.947          0.064          0              0              0
  69  Drawer          1.116          0.792          -0.015         0              0              0
  70  Drawer          -1.116         0.792          0.210          0              180            0
  71  Cabinet         -0.990         0.402          0.374          0              180            0
  72  Drawer          -1.116         0.792          -0.170         0              180            0
  73  Cabinet         -0.990         0.402          -0.335         0              180            0
  74  CounterTop      -1.001         0.947          -0.669         0              0              0
  75  StoveBurner     0.502          0.932          -0.740         0              90             0
  76  StoveBurner     0.801          0.932          -0.473         0              0              0
  77  StoveBurner     0.801          0.932          -0.740         0              90             0
  78  Drawer          1.116          0.792          1.081          0              0              0
  79  Sink            -0.013         0.912          -0.615         0              0              0
  80  Drawer          1.116          0.792          0.732          0              0              0
  81  StoveBurner     0.502          0.932          -0.469         0              0              0
  82  Drawer          1.116          0.792          0.367          0              0              0
  83  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  86  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  87  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  88  Fridge          -1.300         0.008          0.987          0              90             0
  89  GarbageCan      1.296          -0.024         1.465          0              0              0
  90  Window          -0.012         1.641          -0.972         90             0              0
  91  Window          1.598          1.646          2.489          90             270            0
  92  Toaster         1.356          0.900          1.044          0              270            0
  93  LightSwitch     0.118          1.353          3.799          0              180            0
  94  Microwave       -1.343         0.900          0.053          0              90             0
  95  SinkBasin       -0.029         0.748          -0.612         0              0              0
  96  Faucet          -0.026         0.927          -0.808         0              0              0
  97  Shelf           -1.182         0.127          2.414          0              90             0
  98  Stool           1.140          0.007          3.262          1.206          20.753         0
  99  Shelf           -1.182         0.435          2.414          0              90             0
 100  DiningTable     1.169          0.014          2.569          0              0              1.896
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: turn left to the counter | STEP 2: pick up the knife from the counter | STEP 3: turn left, turn right to the sink | STEP 4: cut potato with the knife | STEP 5: turn right, walk straight to the microwave  | STEP 6: open door, place knife on shelf, close door | STEP 7: turn around, turn right to the sink | STEP 8: pick up potato from the sink | STEP 9: turn right to the microwave | STEP 10: open door, place potato on shelf, close door, cook, open door, remove potato, close door | STEP 11: turn right, turn left to the fridge | STEP 12: open door, put potato on shelf, close door | END