Task: Putting a clean sliced potato 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           0.0            0.908          0.5            0              270            0
   1  SprayBottle     1.444          0.910          -0.428         0              0              0              76
   2  SprayBottle     1.367          0.885          2.477          0              0              0              108
   3  Potato          1.284          0.931          2.477          0              0              0              108
   4  CellPhone       1.127          0.774          1.114          0              0              0              86
   5  ButterKnife     1.444          0.911          0.422          0              0              0              76
   6  ButterKnife     1.200          0.875          2.800          0              0              0              108
   7  Glassbottle     -1.388         1.656          -0.481         0              0              0              63
   8  Kettle          0.502          0.939          -0.740         0              90             0              83
   9  Fork            -1.105         0.750          2.273          0              0              0              57
  10  Spatula         1.523          0.926          -0.428         0              90             0              76
  11  Spatula         -1.012         0.764          2.087          0              0              0              57
  12  Pot             0.502          0.939          -0.469         0              0              0              89
  13  Egg             -1.329         1.049          0.046          0              90             0              102
  14  Egg             -1.437         0.946          -0.562         0              0              0              82
  15  Cup             -1.320         1.420          0.987          0              90             0              96
  16  Cup             -1.361         1.014          -0.057         0              90             0              102
  17  Plate           1.327          1.661          0.194          0              0              0              58
  18  Knife           -0.038         0.934          -0.348         0              0              0              82
  19  Knife           1.286          0.933          0.706          0              0              0              76
  20  Tomato          -1.263         1.470          1.197          0              90             0              96
  21  Tomato          -1.206         1.470          0.673          0              90             0              96
  22  Bowl            -1.290         0.748          2.459          0              0              0              57
  23  Bread           1.034          0.949          2.261          0              0              0              108
  24  Bread           1.128          0.974          0.139          0              0              0              76
  25  SaltShaker      -1.105         0.745          2.644          0              0              0              57
  26  SaltShaker      1.294          2.153          0.686          0              0              0              67
  27  PepperShaker    -1.513         0.908          -0.902         0              0              0              82
  28  Mug             1.215          0.943          -0.633         0              320.314        0              95
  29  Mug             -1.320         1.631          1.289          0              90             0              96
  30  Apple           -0.082         0.818          -0.533         0              0              0              103
  31  Bread           1.068          0.935          2.684          0              0              0              108
  32  Glassbottle     -1.263         2.154          1.093          0              0              0              74
  33  Fork            0.103          0.759          -0.612         0              0              0              103
  34  Kettle          -1.357         0.739          3.024          0              240.000        0              57
  35  Tomato          -1.149         1.470          0.988          0              90             0              96
  36  Plate           1.444          0.912          0.139          0              0              0              76
  37  CellPhone       -1.513         0.909          -0.392         0              0              0              82
  38  Lettuce         1.238          0.969          -0.16          0              0              0              76
  39  Pot             0.802          0.939          -0.740         0              90             0              85
  40  SoapBottle      1.049          0.912          0.422          0              0              0              76
  41  WineBottle      -1.263         0.752          1.302          0              90             0              96
  42  Spatula         -1.197         0.763          2.459          0              180            0              57
  43  Bowl            1.367          0.884          2.261          0              0              0              108
  44  Apple           -1.197         0.809          3.015          0              0              0              57
  45  Cup             -1.012         0.748          2.459          0              0              0              57
  46  Knife           1.286          0.933          -0.144         0              180            0              76
  47  Egg             -1.263         1.049          -0.005         0              90             0              102
  48  SaltShaker      -1.513         0.908          -0.562         0              0              0              82
  49  PepperShaker    1.262          0.112          1.119          0              0              0              68
  50  Potato          -1.383         0.794          2.087          0              0              0              57
  51  ButterKnife     -1.123         0.912          -0.430         0              0              0              82
  52  DishSponge      -1.325         2.153          1.206          0              0              0              75
  53  Pan             -1.206         0.750          0.778          0              90             0              96
  54  Spoon           -1.012         0.750          1.902          0              0              0              57
  55  SprayBottle     0.086          0.116          -0.621         0              0              0              71
  56  Mug             -0.020         0.753          -0.691         0              0              0              103
  57  DiningTable     -1.182         0.006          2.414          0              90             0
  58  Cabinet         1.184          2.059          0.375          0              0              0
  59  Cabinet         1.184          2.059          -0.635         0              0              0
  60  Cabinet         0.591          2.309          -0.645         0              0              0
  61  Cabinet         -0.574         2.059          -0.644         0              0              0
  62  Cabinet         -1.103         2.059          -0.644         0              0              0
  63  Cabinet         -1.185         2.059          -0.331         0              0              0
  64  Cabinet         -1.185         2.059          -0.281         0              0              0
  65  Cabinet         -1.185         2.059          0.375          0              0              0
  66  Cabinet         1.184          2.309          1.174          0              0              0
  67  Cabinet         1.184          2.309          0.424          0              0              0
  68  Cabinet         0.988          0.402          0.581          0              0              0
  69  Cabinet         0.988          0.402          0.531          0              0              0
  70  Cabinet         0.988          0.402          -0.178         0              0              0
  71  Cabinet         0.335          0.402          -0.348         0              0              0
  72  Cabinet         -0.374         0.402          -0.348         0              0              0
  73  Cabinet         0.988          0.402          1.231          0              0              0
  74  Cabinet         -1.185         2.309          1.374          0              0              0
  75  Cabinet         -1.185         2.309          0.424          0              0              0
  76  CounterTop      1.274          0.947          0.064          0              0              0
  77  Drawer          1.116          0.792          -0.015         0              0              0
  78  Drawer          -1.116         0.792          0.210          0              180            0
  79  Cabinet         -0.990         0.402          0.374          0              180            0
  80  Drawer          -1.116         0.792          -0.170         0              180            0
  81  Cabinet         -0.990         0.402          -0.335         0              180            0
  82  CounterTop      -1.001         0.947          -0.669         0              0              0
  83  StoveBurner     0.502          0.932          -0.740         0              90             0
  84  StoveBurner     0.801          0.932          -0.473         0              0              0
  85  StoveBurner     0.801          0.932          -0.740         0              90             0
  86  Drawer          1.116          0.792          1.081          0              0              0
  87  Sink            -0.013         0.912          -0.615         0              0              0
  88  Drawer          1.116          0.792          0.732          0              0              0
  89  StoveBurner     0.502          0.932          -0.469         0              0              0
  90  Drawer          1.116          0.792          0.367          0              0              0
  91  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  92  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  93  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  94  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  95  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  96  Fridge          -1.300         0.008          0.987          0              90             0
  97  GarbageCan      1.296          -0.024         1.465          0              0              0
  98  Window          -0.012         1.641          -0.972         90             0              0
  99  Window          1.598          1.646          2.489          90             270            0
 100  Toaster         1.356          0.900          1.044          0              270            0
 101  LightSwitch     0.118          1.353          3.799          0              180            0
 102  Microwave       -1.343         0.900          0.053          0              90             0
 103  SinkBasin       -0.029         0.748          -0.612         0              0              0
 104  Faucet          -0.026         0.927          -0.808         0              0              0
 105  Shelf           -1.182         0.127          2.414          0              90             0
 106  Stool           1.140          0.007          3.262          1.206          20.753         0
 107  Shelf           -1.182         0.435          2.414          0              90             0
 108  DiningTable     1.169          0.014          2.569          0              0              1.896
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: Go to the microwave | STEP 2: Grab the knife that is to the left of the microwave | STEP 3: Turn right and stop at the white table | STEP 4: Cut the potato on the table into slices | STEP 5: Turn left and go to the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn right and go to the white table | STEP 8: Grab a potato slice off of the table | STEP 9: Turn left and go to the sink | STEP 10: Wash the potato in the sink and then take it out | STEP 11: Turn right and go to the microwave | STEP 12: Put the potato in the microwave | END