Task: Heat the potato with microwave, 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           -2.5           0.900          -1.25          0              0              0
   1  SprayBottle     1.375          1.161          -1.002         0              0              0              78
   2  SprayBottle     -1.809         0.909          -1.793         0              0              0              70
   3  Potato          -1.957         0.952          0.204          0              0              0              74
   4  Ladle           -2.201         0.954          0.549          0              0              0              74
   5  ButterKnife     -1.886         0.910          -1.620         0              0              0              70
   6  DishSponge      -0.344         0.774          -1.565         0              0              0              71
   7  DishSponge      1.343          0.910          -0.65          0              0              0              72
   8  Fork            1.010          0.911          -0.65          0              0              0              72
   9  Fork            1.414          1.162          -1.688         0              0              0              78
  10  Spoon           1.003          0.776          -0.732         0              90             0              63
  11  Spatula         -0.477         0.926          -1.874         0              0              0              72
  12  Pot             -1.431         0.949          -1.525         0              0              0              80
  13  Cup             0.852          0.911          -1.448         0              0              0              72
  14  Plate           1.401          1.656          -1.500         0              0              0              64
  15  Plate           1.426          1.368          2.351          0              270            0              91
  16  Knife           -2.201         0.940          0.291          0              180            0              74
  17  Knife           -2.323         0.940          0.291          0              0              0              74
  18  SoapBottle      1.381          0.214          1.137          0              90             0              89
  19  Tomato          1.335          1.202          -1.345         0              0              0              78
  20  Bowl            0.217          0.920          -1.758         0              270            0              51
  21  SaltShaker      -2.116         0.905          -1.448         0              0              0              70
  22  SaltShaker      1.414          1.157          0.370          0              180            0              78
  23  Tomato          -0.477         0.951          -1.534         0              0              0              72
  24  Glassbottle     0.200          1.656          -1.876         0              0              0              62
  25  Knife           0.982          0.804          -1.178         0              90             0              50
  26  Plate           -2.201         0.911          0.118          0              0              0              74
  27  Fork            -1.712         0.911          0.463          0              0              0              74
  28  Ladle           1.414          1.206          -0.659         0              0              0              78
  29  Potato          -0.326         0.953          -1.704         0              0              0              72
  30  Lettuce         1.325          1.436          1.976          0              270            0              91
  31  Kettle          -1.431         0.949          -1.81          0              0              0              82
  32  Pen             -1.712         0.913          0.291          0              0              0              74
  33  SaltShaker      -1.828         0.111          -1.538         0              0              0              79
  34  Cup             1.376          1.265          -0.021         0              270            0              94
  35  Egg             -0.326         0.940          -1.534         0              0              0              72
  36  Spatula         -1.886         0.925          -1.448         0              180            0              70
  37  Bowl            1.035          0.115          -1.244         0              0              0              57
  38  SprayBottle     0.758          0.910          -1.789         0              0              0              72
  39  Pan             -1.081         0.949          -1.527         0              0              0              73
  40  SoapBottle      -0.778         0.911          -1.619         0              180            0              72
  41  Pot             -1.081         0.949          -1.81          0              0              0              68
  42  ButterKnife     0.149          0.919          -1.657         0              270            0              51
  43  PepperShaker    -0.438         0.111          -1.732         0              0              0              58
  44  DishSponge      -1.881         1.655          -1.807         0              90             0              53
  45  Bread           1.343          0.989          -1.331         0              0              0              72
  46  Apple           -1.835         0.945          0.032          0              0              0              74
  47  Spoon           -2.131         0.774          -1.565         0              90             0              67
  48  Mug             0.251          0.914          -1.607         0              90             0              51
  49  Drawer          0.860          0.75           0.430          0              0              0
  50  Drawer          0.871          0.75           -1.134         0              0              0
  51  Sink            0.156          0.817          -1.801         0              270            0
  52  Cabinet         -0.868         2.005          -1.690         0              0              0
  53  Cabinet         -1.661         2.059          -1.684         0              90             0
  54  Cabinet         -0.817         2.059          -1.689         0              0              0
  55  Cabinet         0.860          0.402          0.665          0              0              0
  56  Cabinet         0.860          0.402          -0.552         0              0              0
  57  Cabinet         0.860          0.402          -1.365         0              0              0
  58  Cabinet         -0.244         0.402          -1.389         0              0              0
  59  Cabinet         -0.815         0.402          -1.389         0              0              0
  60  Cabinet         1.159          2.059          -0.334         0              0              0
  61  Cabinet         0.488          2.059          -1.689         0              0              0
  62  Cabinet         -0.193         2.059          -1.689         0              0              0
  63  Drawer          0.860          0.75           -0.699         0              0              0
  64  Cabinet         1.159          2.059          -1.019         0              0              0
  65  Cabinet         -1.611         2.005          -1.690         0              0              0
  66  Cabinet         0.832          0.401          -1.393         0              90             0
  67  Drawer          -2.105         0.75           -1.389         0              0              0
  68  StoveBurner     -1.081         0.941          -1.809         0              0              0
  69  Cabinet         -0.202         0.401          -1.391         0              90             0
  70  CounterTop      -1.973         0.945          -1.707         0              0              0
  71  Drawer          -0.375         0.75           -1.389         0              0              0
  72  CounterTop      1.164          0.946          -0.649         0              0              0
  73  StoveBurner     -1.081         0.941          -1.527         0              0              0
  74  CounterTop      -2.096         0.945          0.291          0              0              0
  75  Cabinet         -2.237         0.402          -1.389         0              0              0
  76  Drawer          0.584          0.75           -1.389         0              0              0
  77  Drawer          -1.795         0.75           -1.389         0              0              0
  78  CounterTop      1.5            1.197          -0.654         0              0              0
  79  Cabinet         -1.667         0.402          -1.389         0              0              0
  80  StoveBurner     -1.430         0.941          -1.525         0              0              0
  81  Drawer          -0.685         0.75           -1.389         0              0              0
  82  StoveBurner     -1.430         0.941          -1.809         0              0              0
  83  LightSwitch     -2.539         1.289          2.568          0              90             0
  84  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  85  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  86  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  87  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  88  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  89  GarbageCan      1.343          0.015          1.041          0              0              0
  90  HousePlant      1.440          1.153          0.593          0              0              0
  91  Fridge          1.417          0.0            2.101          0              0              0
  92  Window          -0.486         1.452          3.302          90             0              0
  93  SinkBasin       -0.063         0.765          -1.713         0              270            0
  94  Microwave       1.422          1.150          0.022          0              270            0
  95  Toaster         -2.066         0.900          -1.848         0              0              0
  96  Stool           -1.994         0.010          0.882          0              0              0
  97  Faucet          -0.096         1.041          -1.867         0              270            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn right, walk to the sink | STEP 2: Grab the potato by the sink | STEP 3: Turn around, turn left, walk to the microwave | STEP 4: Open the microwave, put the potato in, close the microwave, turn on the microwave, open the microwave, take the potato out, close the microwave | STEP 5: Turn around, turn left, walk to the sink | STEP 6: Put the potato in the sink | END