Task: Put a potato slice 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           1.0            0.900          1.5            0              0              0
   1  Potato          -2.668         1.051          2.278          0              180            0              82
   2  DishSponge      -0.471         0.910          0.870          0              0              0              42
   3  DishSponge      -2.257         0.772          -0.025         0              0              0              60
   4  Fork            -0.471         0.911          0.647          0              0              0              42
   5  Fork            -2.372         0.911          0.631          0              0              0              70
   6  Spoon           1.291          0.919          -1.231         0              225            0              56
   7  Pot             1.691          0.929          0.064          0              0              0              53
   8  Pot             1.411          0.929          0.064          0              0              0              71
   9  Egg             -2.704         0.941          1.230          0              0              0              70
  10  Cup             1.595          0.908          -0.843         0              45             0              52
  11  Tomato          -2.559         0.637          -0.693         0              90             0              74
  12  SoapBottle      -0.341         0.912          0.647          0              0              0              42
  13  SoapBottle      1.735          1.665          -0.479         0              0              0              62
  14  PepperShaker    -0.730         0.905          0.423          0              0              0              42
  15  SaltShaker      0.048          0.905          1.764          0              0              0              42
  16  Lettuce         -0.211         0.994          1.540          0              0              0              42
  17  Bread           -0.341         0.996          1.317          0              0              0              42
  18  Apple           1.428          0.972          -0.726         0              0              0              52
  19  Pan             0.0            0.9            0.948          0              29.999         0              42
  20  Knife           -2.257         0.799          0.857          0              90             0              47
  21  Apple           -2.532         1.362          -0.979         0              90             0              74
  22  Bowl            -2.599         1.535          1.912          0              0              0              54
  23  Fork            -0.211         0.911          0.647          0              0              0              42
  24  Bread           -2.485         1.175          -0.696         0              90             0              74
  25  Plate           -2.372         0.913          0.931          0              0              0              70
  26  Egg             -2.603         1.046          2.278          0              90             0              82
  27  Kettle          1.412          0.929          -0.335         0              0              0              43
  28  Potato          -2.206         0.947          0.031          0              0              0              70
  29  SaltShaker      -2.572         1.928          -1.150         0              0              0              63
  30  Lettuce         -2.372         0.994          1.530          0              0              0              70
  31  Cup             1.391          0.916          -1.061         0              225            0              56
  32  SoapBottle      1.771          1.658          0.387          0              0              0              61
  33  Spatula         -2.318         0.788          0.391          0              90             0              59
  34  PaperTowelRoll  1.846          1.015          -0.996         0              0              0              52
  35  ButterKnife     -2.538         0.910          0.631          0              90             0              70
  36  PepperShaker    -2.524         1.532          0.052          0              0              0              65
  37  DishSponge      -2.287         0.773          1.274          0              0              0              73
  38  Pot             -2.448         1.587          -1.631         0              180            0              69
  39  Spoon           1.434          0.923          -1.158         0              45             0              56
  40  Tomato          1.017          0.953          -1.637         0              45             0              52
  41  Mug             -2.704         0.905          0.331          0              0              0              70
  42  CounterTop      -0.360         0.946          1.093          0              0              0
  43  StoveBurner     1.412          0.923          -0.335         0              0              0
  44  StoveKnob       1.878          1.093          0.018          287.989        90             0
  45  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  46  Cabinet         -2.446         1.948          2.924          0              0              0
  47  Drawer          -2.276         0.792          0.902          0              0              0
  48  Cabinet         -2.145         0.402          1.578          0              0              0
  49  Cabinet         0.149          2.008          -1.603         0              90             0
  50  StoveBurner     1.691          0.923          -0.335         0              0              0
  51  CounterTop      1.585          0.946          0.405          0              0              0
  52  CounterTop      0.474          0.946          -1.625         0              0              0
  53  StoveBurner     1.691          0.923          0.064          0              0              0
  54  Cabinet         -2.446         1.948          1.687          0              0              0
  55  Cabinet         -2.446         1.948          1.640          0              0              0
  56  Sink            1.381          0.810          -1.271         0              225            0
  57  StoveKnob       1.878          1.093          0.150          287.989        90             0
  58  Cabinet         -2.145         0.402          -0.236         0              0              0
  59  Drawer          -2.276         0.792          0.437          0              0              0
  60  Drawer          -2.276         0.792          -0.027         0              0              0
  61  Cabinet         1.572          2.008          0.474          0              0              0
  62  Cabinet         1.572          2.008          -0.775         0              0              0
  63  Cabinet         -2.445         2.148          -1.275         0              0              0
  64  Cabinet         -2.446         2.148          -0.284         0              0              0
  65  Cabinet         -2.446         1.948          0.355          0              0              0
  66  Cabinet         -2.446         1.948          0.405          0              0              0
  67  Cabinet         -2.145         0.402          0.644          0              0              0
  68  Cabinet         -2.145         0.402          0.695          0              0              0
  69  Cabinet         -2.285         1.968          -1.325         0              180            0
  70  CounterTop      -1.485         0.946          1.319          0              0              0
  71  StoveBurner     1.411          0.923          0.064          0              0              0
  72  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  73  Drawer          -2.276         0.792          1.368          0              0              0
  74  Fridge          -2.475         0.0            -0.782         0              90             0
  75  LightSwitch     -0.929         1.350          -1.950         0              0              0
  76  Toaster         -2.564         0.900          1.876          0              90             0
  77  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  78  Window          1.508          1.534          -1.496         90             135            0
  79  Window          1.973          1.521          1.121          90             90             0
  80  SinkBasin       1.149          0.753          -1.380         0              225            0
  81  GarbageCan      1.646          -0.000         0.679          0              0              0
  82  Microwave       -2.580         0.900          2.440          0              90             0
  83  Stool           0.439          0.010          0.747          0              0              0
  84  Stool           -2.303         0.010          1.839          0              0              0
  85  Faucet          1.235          1.138          -1.473         0              225            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Walk straight to wall, turn left, walk straight to microwave, turn left, walk straight towards the end of the counter | STEP 2: Turn right, walk straight to the counter, grab the knife behind the fork | STEP 3: Turn around, walk straight to counter, then turn right, walk straight towards the door, turn right next to the fridge | STEP 4: Look down at potato, cut the potato with the knife | STEP 5: Turn left, walk straight in front of fridge, turn right | STEP 6: Open fridge door, place knife on top shelf | STEP 7: Shut the fridge door, turn right, walk straight, then turn left | STEP 8: Grab slice of potato | STEP 9: Turn left, walk straight towards door, turn left, walk straight next to the oven, turn right at the sink | STEP 10: Look down, place potato slice in sink, turn on the faucet, turn off, pick up potato slice from sink | STEP 11: Turn right towards the fridge, turn right again, walk straight towards wall, turn left, walk straight towards microwave | STEP 12: Open microwave door, place potato slice in microwave, shut the door | END