Task: Heat up a slice of potato in the microwave to set in front of the toaster.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          1.0            0              180            0
   1  ButterKnife     2.414          0.764          3.736          0              329.999        0              55
   2  ButterKnife     -0.714         0.816          1.181          0              90             0              111
   3  WineBottle      2.359          0.765          4.129          0              329.999        0              55
   4  Glassbottle     1.170          1.027          -1.774         0              90             0              54
   5  Glassbottle     -0.454         0.049          0.359          0              0              0              87
   6  Spatula         2.478          0.779          3.773          0              329.999        0              55
   7  Spatula         1.770          0.816          1.263          0              227.0          0              68
   8  Spoon           2.801          0.765          3.821          0              270            0              55
   9  Fork            1.409          1.027          -1.774         0              90             0              54
  10  Egg             2.376          0.808          3.62           0              0              0              55
  11  Egg             2.599          0.808          4.495          0              0              0              55
  12  Cup             2.978          0.031          -0.689         0              0              0              80
  13  Cup             2.959          1.025          -0.846         0              0              0              54
  14  Plate           1.956          0.764          3.685          0              225            0              55
  15  Plate           2.304          0.764          4.521          0              329.999        0              55
  16  Knife           2.683          1.052          1.004          0              136.999        0              54
  17  Knife           1.930          0.827          1.286          0              47.0           0              68
  18  Tomato          -0.968         1.495          -0.295         0              90             0              98
  19  Tomato          2.100          0.818          3.895          0              270            0              55
  20  Bowl            -0.803         0.047          0.700          0              0              0              87
  21  Bowl            1.350          1.025          -1.454         0              90             0              54
  22  SaltShaker      2.555          0.760          3.865          0              225            0              55
  23  PepperShaker    2.685          0.760          3.994          0              225            0              55
  24  PepperShaker    -0.669         1.023          1.821          0              0              0              57
  25  Apple           1.230          1.077          -1.667         0              90             0              54
  26  Pan             -0.627         0.045          2.012          0              0              0              83
  27  Glassbottle     2.451          0.765          3.97           0              225            0              55
  28  Knife           -0.782         0.841          1.103          0              180            0              111
  29  SoapBottle      2.626          0.763          3.747          0              270            0              55
  30  Egg             -0.858         0.378          -0.073         0              90             0              98
  31  Fork            2.975          0.765          4.118          0              270            0              55
  32  Potato          1.916          1.068          1.405          0              136.999        0              54
  33  Ladle           -0.544         1.066          1.821          0              0              0              57
  34  Tomato          -0.714         0.878          1.337          0              90             0              111
  35  Pot             1.836          1.027          -1.84          0              90             0              52
  36  WineBottle      2.893          0.765          4.307          0              225            0              55
  37  Plate           2.706          1.027          -0.846         0              0              0              54
  38  Spatula         2.634          0.779          3.651          0              329.999        0              55
  39  PaperTowelRoll  2.376          0.868          3.445          0              0              0              55
  40  Lettuce         2.228          1.085          0.860          0              136.999        0              54
  41  Apple           -1.159         1.077          1.519          0              0              0              57
  42  SaltShaker      2.790          0.760          3.529          0              329.999        0              55
  43  PepperShaker    2.528          1.777          -1.950         0              0              0              93
  44  ButterKnife     -0.782         0.816          1.414          0              90             0              111
  45  Bread           1.950          1.094          1.158          0              136.999        0              54
  46  Cup             -0.577         0.815          1.259          0              90             0              111
  47  DishSponge      2.216          0.764          3.945          0              225            0              55
  48  Bowl            -0.944         1.778          2.369          0              0              0              92
  49  Spoon           -0.920         1.028          1.943          0              90             0              57
  50  Mug             -0.803         1.070          0.646          0              90             0              107
  51  Sink            -0.716         1.023          1.333          0              0              0
  52  StoveBurner     1.835          1.018          -1.840         0              90             0
  53  StoveBurner     2.177          1.018          -1.599         0              0              0
  54  CounterTop      2.812          0.992          0.675          0              0              0
  55  DiningTable     2.419          0.003          3.930          0              0              0
  56  Drawer          -0.643         0.828          0.616          0              0              0
  57  CounterTop      -0.813         1.062          2.188          0              0              0
  58  StoveBurner     2.115          1.018          -1.840         0              270            0
  59  Drawer          -0.643         0.831          1.953          0              0              0
  60  Drawer          -0.643         0.833          2.418          0              0              0
  61  Drawer          1.347          0.836          -1.539         0              0              0
  62  Drawer          2.693          0.833          -1.131         0              0              0
  63  Drawer          2.693          0.833          -0.699         0              0              0
  64  Drawer          2.693          0.833          -0.267         0              0              0
  65  Drawer          2.693          0.833          0.163          0              0              0
  66  Drawer          2.524          0.833          0.720          0              2.000          0
  67  Drawer          2.232          0.833          1.036          0              2.000          0
  68  Drawer          1.936          0.833          1.354          0              2.000          0
  69  Drawer          1.646          0.833          1.670          0              2.000          0
  70  Cabinet         1.504          2.475          -1.710         0              0              0
  71  Cabinet         -0.823         2.220          1.621          0              0              0
  72  Cabinet         -0.823         2.220          0.615          0              0              0
  73  Cabinet         1.136          0.388          -1.355         0              0              0
  74  Cabinet         -0.356         0.383          2.626          0              0              0
  75  Cabinet         2.745          2.220          -1.690         0              0              0
  76  Cabinet         1.882          0.383          1.017          0              0              0
  77  Cabinet         1.307          0.473          1.640          0              0              0
  78  Cabinet         1.892          0.383          1.006          0              0              0
  79  Cabinet         2.467          0.383          0.383          0              0              0
  80  Cabinet         2.466          0.383          -0.475         0              0              0
  81  Cabinet         2.466          0.473          0.371          0              0              0
  82  Cabinet         2.386          2.475          -1.710         0              0              0
  83  Cabinet         -0.356         0.383          1.712          0              0              0
  84  Cabinet         2.745          2.220          0.019          0              0              0
  85  Cabinet         -0.663         2.496          0.157          0              0              0
  86  Cabinet         -0.663         2.496          -0.868         0              0              0
  87  Cabinet         -0.356         0.383          0.269          0              0              0
  88  Cabinet         -0.823         2.220          1.603          0              0              0
  89  Cabinet         -0.662         2.234          0.586          0              0              0
  90  Cabinet         2.745          2.220          -0.843         0              0              0
  91  Cabinet         2.745          2.220          -0.827         0              0              0
  92  Cabinet         -0.823         2.220          2.608          0              0              0
  93  Cabinet         2.732          2.226          -1.709         0              0              0
  94  Cabinet         1.137          2.226          -1.709         0              0              0
  95  Cabinet         2.466          0.383          -0.491         0              0              0
  96  Cabinet         2.466          0.383          -1.339         0              0              0
  97  StoveBurner     1.761          1.018          -1.599         0              0              0
  98  Fridge          -0.908         0.0            -0.405         0              0              0
  99  HousePlant      2.517          1.016          1.822          0              0              0
 100  Microwave       1.939          1.745          -1.826         0              0              0
 101  StoveKnob       2.017          1.041          -1.514         0              180            180
 102  StoveKnob       1.934          1.041          -1.514         0              180            180
 103  StoveKnob       2.017          1.041          -1.589         0              180            180
 104  StoveKnob       1.934          1.041          -1.589         0              180            180
 105  Window          1.756          1.608          4.762          90             0              0
 106  HousePlant      2.171          1.004          2.091          0              0              0
 107  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 108  LightSwitch     -0.099         1.410          -2.066         0              0              0
 109  GarbageCan      -0.951         -0.029         2.826          0              0              0
 110  Toaster         -1.007         1.018          2.238          0              90             0
 111  SinkBasin       -0.714         0.805          1.348          0              90             0
 112  Chair           1.615          0.004          4.310          0              107.976        0
 113  Faucet          -1.120         1.013          1.334          0              90             0
 114  Chair           2.759          0.004          3.086          0              358.967        0
 115
 116  NorthWall
 117  EastWall
 118  SouthWall
 119  WestWall

Plan:
STEP 1: Turn right to walk to the sink. | STEP 2: Pick up the middle knife in the sink. | STEP 3: Turn and walk to the opposite counter, where the potato is. | STEP 4: Slice the potato with the knife. | STEP 5: Turn left to walk to the toaster. | STEP 6: Set the knife down in front of the toaster. | STEP 7: Walk back to the counter where the potato is. | STEP 8: Pick up a slice of the potato. | STEP 9: Turn around to walk to the microwave. | STEP 10: Heat up the potato in the microwave, removing it afterwards. | STEP 11: Turn right to walk to the toaster. | STEP 12: Set the potato down on the counter next to the knife. | END