Task: Preparing a slice of potato and putting 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          0.869          -3.0           0              90             0
   1  Potato          -2.054         0.832          -3.705         0              0              0              66
   2  Potato          -0.855         0.933          0.843          0              270            0              70
   3  DishSponge      0.623          0.760          -0.061         0              0              0              43
   4  DishSponge      0.582          0.883          -0.108         0              0              0              44
   5  ButterKnife     -1.056         0.900          0.843          0              270            0              70
   6  ButterKnife     -2.137         0.701          -1.091         0              90             0              80
   7  Spoon           0.961          0.666          0.387          0              90             0              49
   8  Spoon           0.721          0.665          0.387          0              180            0              49
   9  Fork            0.720          0.761          -0.188         0              0              0              43
  10  Cup             0.732          0.014          -0.119         0              0              0              54
  11  Knife           -1.719         0.724          -1.307         0              90             0              80
  12  Knife           -1.056         0.923          1.015          0              90             0              70
  13  Tomato          0.877          0.931          -0.314         0              0              0              44
  14  Tomato          0.746          0.514          -2.113         0              270            0              64
  15  SoapBottle      0.661          0.664          0.508          0              0              0              49
  16  SoapBottle      0.842          0.014          0.011          0              0              0              54
  17  Bowl            0.903          1.462          0.349          0              0              0              56
  18  SaltShaker      0.621          0.012          0.076          0              0              0              54
  19  SaltShaker      0.721          0.661          0.630          0              0              0              49
  20  Bread           0.841          0.708          0.508          0              0              0              49
  21  Mug             0.746          1.369          -1.958         0              270            0              64
  22  Pot             -1.552         0.930          0.785          0              0              0              48
  23  Plate           -2.023         0.692          -1.447         0              0              0              80
  24  Fork            -1.970         0.702          -0.983         0              0              0              80
  25  SoapBottle      0.661          0.663          0.326          0              0              0              49
  26  Apple           1.040          0.937          -0.460         0              0              0              44
  27  Pan             -2.097         0.930          0.785          0              0              0              46
  28  Egg             0.883          0.809          -0.735         0              270            0              67
  29  Spatula         0.672          0.787          -0.845         0              180            0              67
  30  Potato          -1.260         0.085          -3.684         0              270            0              59
  31  Cup             0.715          0.771          -0.735         0              270            0              67
  32  SaltShaker      0.877          0.879          -0.108         0              0              0              44
  33  PepperShaker    -1.635         0.698          -1.199         0              0              0              80
  34  ButterKnife     0.754          0.755          -0.743         0              45             0              67
  35  DishSponge      -1.261         0.051          -3.574         0              270            0              59
  36  Bread           -0.051         0.944          1.101          0              270            0              70
  37  Lettuce         0.785          0.751          -1.880         0              270            0              64
  38  Tomato          0.669          0.514          -1.957         0              270            0              64
  39  Spoon           0.769          0.760          0.002          0              0              0              43
  40  Knife           0.149          0.923          0.929          0              270            0              70
  41  Mug             0.708          1.153          -2.190         0              270            0              64
  42  Bowl            0.858          1.462          -0.146         0              0              0              55
  43  Drawer          0.706          0.766          -0.125         0              0              0
  44  CounterTop      0.792          0.919          -0.108         0              0              0
  45  Mirror          1.093          1.602          -0.643         0              0              0
  46  StoveBurner     -2.096         0.890          0.785          0              0              0
  47  Cabinet         0.507          0.345          -0.426         0              0              0
  48  StoveBurner     -1.552         0.890          0.785          0              0              0
  49  SideTable       0.770          -0.030         0.443          0              0              0
  50  Sink            0.753          0.882          -0.680         0              0              0
  51  StoveBurner     -2.096         0.890          1.049          0              0              0
  52  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  53  StoveBurner     -1.554         0.890          1.049          0              0              0
  54  Cabinet         0.507          0.345          0.156          0              0              0
  55  Cabinet         0.717          1.822          -0.398         0              0              0
  56  Cabinet         0.717          1.822          0.669          0              0              0
  57  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  58  Toaster         -0.522         0.886          1.081          0              180            0
  59  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  60  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  61  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  62  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  63  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  64  Fridge          0.680          -0.031         -1.957         0              0              0
  65  Window          -2.424         1.639          -2.453         90             270            0
  66  Microwave       -1.994         0.690          -3.651         0              0              0
  67  SinkBasin       0.757          0.762          -0.688         0              270            0
  68  LightSwitch     1.102          1.368          -3.737         0              270            0
  69  Shelf           -0.350         0.124          0.857          0              0              0
  70  DiningTable     -0.350         -0.025         0.857          0              0              0
  71  DiningTable     -1.909         -0.032         -3.507         0              0              0
  72  Blinds          -2.343         2.151          -2.437         0              270            0
  73  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  74  AluminumFoil    0.751          0.225          0.287          0              0              0
  75  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  76  Shelf           0.771          0.226          0.445          0              0              0
  77  Shelf           0.771          0.456          0.446          0              0              0
  78  Faucet          1.025          0.873          -0.678         270            180            0
  79  Shelf           -0.350         0.497          0.857          0              0              0
  80  DiningTable     -1.929         -0.035         -1.398         0              90             0
  81  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn around and go to the small table just to the right | STEP 2: Pick up the knife from behind the salt shaker | STEP 3: Move to the microwave to the left of the table | STEP 4: Open the microwave and cut the potato in the microwave | STEP 5: Put the knife in the microwave | STEP 6: Take a slice of potato and then close the microwave | STEP 7: Turn to the left and go to the fridge | STEP 8: Open the fridge and put the the slice in the fridge, close the fridge, wait, open the fridge and remove the potato slice, close the fridge | STEP 9: Turn around and move to the microwave to the left | STEP 10: Open the microwave, put the slice inside behind the knife and close the microwave | END