Task: Heat a potato slice and put 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           0.0            0.900          3.0            0              0              0
   1  Potato          -1.317         0.943          1.040          0              90             0              81
   2  DishSponge      -2.779         0.822          3.405          0              0              0              63
   3  DishSponge      -1.317         0.900          0.937          0              90             0              81
   4  ButterKnife     -1.819         0.823          3.556          0              0              0              63
   5  Spatula         1.099          0.838          1.072          0              270            0              40
   6  Spatula         1.024          0.838          1.072          0              270            0              40
   7  Egg             -0.921         0.936          1.349          0              90             0              81
   8  Cup             -2.752         0.766          2.109          0              90             0              72
   9  Knife           -0.657         0.923          1.143          0              180            0              81
  10  SaltShaker      0.650          0.819          0.850          0              0              0              40
  11  Bread           -2.636         1.048          2.221          0              90             0              72
  12  Plate           -2.136         1.402          3.897          0              0              0              41
  13  Fork            -0.657         0.901          1.452          0              90             0              81
  14  Bread           0.815          0.885          2.430          350.602        2.480          2.541          40
  15  Spatula         -0.921         0.915          1.246          0              180            0              81
  16  PaperTowelRoll  0.725          0.927          0.850          0              90             0              40
  17  Potato          -2.612         1.650          2.165          0              90             0              72
  18  SoapBottle      -2.851         0.822          3.405          0              0              0              63
  19  Egg             -2.636         1.227          2.389          0              90             0              72
  20  Cup             0.742          0.125          1.059          0              0              0              42
  21  Pot             0.913          0.850          1.768          0              0              0              61
  22  SaltShaker      -1.307         1.679          3.858          0              0              0              68
  23  Pan             -2.667         0.812          3.74           0              137.145        0              63
  24  PepperShaker    -2.619         1.845          1.599          0              0              0              58
  25  ButterKnife     0.725          0.823          2.198          0              0              0              45
  26  Tomato          -2.577         0.835          2.277          0              90             0              72
  27  DishSponge      -0.657         0.900          1.555          0              90             0              81
  28  Lettuce         -2.636         1.266          2.277          0              90             0              72
  29  Spoon           -0.524         0.901          1.349          0              90             0              81
  30  Apple           -0.524         0.961          0.937          0              90             0              81
  31  Knife           1.026          0.836          2.546          1.399          0              356.267        45
  32  Mug             -1.109         0.940          1.203          0              0              0              81
  33  Bowl            -2.581         1.847          2.008          0              180            0              65
  34  Drawer          0.729          0.703          2.199          0              0              0
  35  Cabinet         -1.962         1.926          3.733          0              0              0
  36  Cabinet         -2.377         2.014          1.058          0              0              0
  37  Drawer          0.729          0.703          2.532          0              0              0
  38  Cabinet         -2.622         1.925          3.733          0              0              0
  39  StoveBurner     0.913          0.843          1.375          0              0              0
  40  CounterTop      0.864          0.858          0.984          0              0              0
  41  Cabinet         -1.976         1.779          3.734          0              0              0
  42  Cabinet         0.580          0.385          0.819          0              0              0
  43  Cabinet         -2.379         1.408          1.677          0              0              0
  44  Cabinet         -0.419         1.703          3.736          0              0              0
  45  CounterTop      0.864          0.858          2.371          0              0              0
  46  Sink            -1.702         0.726          3.828          0              180            0
  47  Cabinet         0.580          0.385          2.694          0              0              0
  48  Cabinet         -2.379         0.637          1.677          0              0              0
  49  Cabinet         -0.419         0.674          3.736          0              0              0
  50  Cabinet         -2.377         2.014          2.558          0              0              0
  51  Drawer          0.729          0.703          0.980          0              0              0
  52  Drawer          -2.114         0.706          3.657          0              0              0
  53  Cabinet         -2.377         1.691          2.572          0              0              0
  54  Cabinet         -2.951         1.925          3.733          0              0              0
  55  Cabinet         0.580          0.385          2.360          0              0              0
  56  Cabinet         -2.426         0.435          3.421          0              0              0
  57  StoveBurner     0.642          0.843          1.375          0              0              0
  58  Cabinet         -2.377         1.927          1.686          0              0              0
  59  Cabinet         -2.377         2.013          3.177          0              0              0
  60  Cabinet         -1.136         0.385          3.516          0              0              0
  61  StoveBurner     0.913          0.843          1.768          0              0              0
  62  Cabinet         -1.974         0.385          3.516          0              0              0
  63  CounterTop      -2.081         0.858          3.799          0              0              0
  64  Cabinet         -2.426         0.435          3.174          0              0              0
  65  Cabinet         -2.377         2.014          1.693          0              0              0
  66  Cabinet         -1.986         0.385          3.511          0              0              0
  67  StoveBurner     0.642          0.843          1.768          0              0              0
  68  Cabinet         -1.098         1.926          3.729          0              0              0
  69  Microwave       -1.529         1.250          3.881          1.622          180            0
  70  CoffeeMachine   1.000          0.812          2.492          0              270            0
  71  LightSwitch     0.825          1.396          4.082          0              180            0
  72  Fridge          -2.642         0.0            2.134          0              180            0
  73  Window          -1.131         1.673          0.808          90             0              0
  74  GarbageCan      0.931          -0.000         2.918          0              0              0
  75  SinkBasin       -1.601         0.686          3.774          0              0              0
  76  StoveKnob       1.104          1.002          1.886          0              0              70.346
  77  StoveKnob       1.104          1.002          1.733          0              0              70.346
  78  StoveKnob       1.104          1.002          1.321          0              0              70.346
  79  StoveKnob       1.104          1.002          1.481          0              0              70.346
  80  Toaster         -2.247         0.812          3.862          0              180            0
  81  DiningTable     -0.917         -0.000         1.203          0              0              0
  82  Stool           -0.932         0.000          1.404          1.196          21.715         0
  83  Faucet          -1.842         0.809          3.984          0              180            0
  84  Faucet          -1.371         0.809          3.985          0              180            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn left, walk forward, and turn right to face the sink. | STEP 2: Pick up the knife on the edge of the sink. | STEP 3: Turn around, walk across the room, and then turn to the left to face the table. | STEP 4: Cut the potato on the table into slices. | STEP 5: Turn around and walk forward to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn around face the end of the table. | STEP 8: Pick up a slice of potato on the table. | STEP 9: Turn left, walk across the room, and look up to face the microwave. | STEP 10: Heat the potato slice and remove it from the microwave. | STEP 11: Step to the left and look down to face the sink. | STEP 12: Place the potato in the sink. | END