Task: place a microwaved potato slice inside of 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           -3.25          0.900          -0.25          0              180            0
   1  Glassbottle     -2.666         0.924          -1.423         0              0              0              78
   2  Glassbottle     -0.267         1.531          -3.665         0              45             0              61
   3  Pen             -2.210         0.926          -1.423         0              0              0              78
   4  Potato          -2.096         0.954          -1.884         0              0              0              78
   5  WineBottle      -2.780         0.924          -2.115         0              0              0              78
   6  Pot             -1.515         0.935          -3.497         0              0              0              50
   7  Spatula         -2.666         0.938          -2.345         0              0              0              78
   8  Fork            -0.398         0.797          -1.934         0              180            0              71
   9  Spoon           -2.210         0.924          -1.423         0              0              0              78
  10  Spoon           -2.552         0.924          -1.884         0              0              0              78
  11  Knife           -2.324         0.946          -0.963         0              0              0              78
  12  Cup             -0.422         0.080          -2.201         0              0              0              58
  13  Egg             -1.204         1.663          -3.837         0              0              0              66
  14  SoapBottle      -0.421         0.079          -3.236         0              0              0              59
  15  Tomato          -0.295         1.454          -0.979         0              270            0              70
  16  Bowl            -0.392         1.389          -0.769         0              270            0              70
  17  Bowl            -0.747         0.081          -3.584         0              0              0              59
  18  Lettuce         -0.295         1.191          -0.560         0              270            0              70
  19  Bread           -0.308         1.743          -0.560         0              270            0              70
  20  Bread           -0.308         1.743          -0.874         0              270            0              70
  21  Mug             -0.392         1.093          -0.769         0              270            0              70
  22  Apple           -0.457         0.989          -3.909         0              0              0              53
  23  Apple           -0.343         1.172          -0.979         0              270            0              70
  24  Lettuce         -2.324         1.016          -1.423         0              0              0              78
  25  Glassbottle     -0.162         1.528          -2.598         0              0              0              65
  26  Egg             -2.552         0.956          -1.423         0              0              0              78
  27  Pen             -0.365         0.918          -2.764         0              0              0              53
  28  Fork            -2.324         0.924          -1.193         0              0              0              78
  29  SoapBottle      -1.912         0.025          -3.799         0              0              0              69
  30  Pencil          -0.778         0.746          -3.556         0              0              0              52
  31  WineBottle      -0.671         0.916          -3.909         0              0              0              53
  32  Spatula         -2.324         0.938          -1.884         0              0              0              78
  33  Bread           -0.414         0.952          -3.625         0              0              0              53
  34  Tomato          -0.302         0.861          -2.008         0              270            0              71
  35  Pan             -2.174         0.913          -1.099         0              0              0              78
  36  Cup             -2.780         0.922          -1.193         0              0              0              78
  37  Pot             -1.129         0.935          -3.498         0              0              0              51
  38  SaltShaker      -0.306         0.077          -2.201         0              0              0              58
  39  Potato          -2.324         0.954          -2.115         0              0              0              78
  40  PepperShaker    -2.096         0.919          -1.654         0              0              0              78
  41  ButterKnife     -0.371         0.903          -3.443         0              0              0              53
  42  DishSponge      -0.302         0.796          -2.155         0              270            0              71
  43  Spoon           -2.096         0.924          -2.115         0              0              0              78
  44  Plate           -0.460         0.083          -1.804         0              0              0              48
  45  Knife           -2.666         0.946          -1.193         0              0              0              78
  46  Mug             -2.552         0.918          -2.115         0              0              0              78
  47  Bowl            -0.671         0.914          -3.626         0              0              0              53
  48  Cabinet         -0.582         0.388          -1.804         0              0              0
  49  StoveBurner     -1.515         0.928          -3.752         0              90             0
  50  StoveBurner     -1.515         0.928          -3.497         0              0              0
  51  StoveBurner     -1.129         0.928          -3.498         0              0              0
  52  Drawer          -0.749         0.779          -3.551         0              0              0
  53  CounterTop      -0.303         0.951          -2.793         0              0              0
  54  Cabinet         -0.883         2.140          -3.687         0              0              0
  55  Cabinet         -0.312         2.140          -1.543         0              0              0
  56  Sink            -0.349         0.907          -2.014         0              0              0
  57  Cabinet         -0.877         0.388          -3.422         0              0              0
  58  Cabinet         -0.582         0.388          -2.197         0              0              0
  59  Cabinet         -0.584         0.388          -3.396         0              0              0
  60  Cabinet         -0.312         2.140          -2.481         0              0              0
  61  Cabinet         -0.330         1.921          -3.390         0              0              0
  62  Cabinet         -1.764         2.140          -3.687         0              0              0
  63  StoveBurner     -1.129         0.928          -3.752         0              90             0
  64  Drawer          -0.454         0.779          -3.268         0              0              0
  65  Cabinet         -0.302         1.916          -2.501         0              0              0
  66  Microwave       -1.317         1.517          -3.801         0              1.440          0
  67  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  68  LightSwitch     -4.323         1.319          0.0            0              180            0
  69  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  70  Fridge          -0.330         0.0            -0.769         0              270            0
  71  SinkBasin       -0.350         0.786          -2.018         0              270            0
  72  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  73  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  76  Toaster         -0.181         0.903          -2.764         0              270            0
  77  Window          -2.503         1.782          -4.185         90             180            0
  78  DiningTable     -2.432         0.000          -1.694         0              270            0
  79  Shelf           -2.432         0.150          -1.694         0              270            0
  80  Blinds          -2.536         2.699          -3.959         0              0              0
  81  Faucet          -0.079         0.904          -2.034         270            180            0
  82  Chair           -3.264         0.002          -2.094         0              53.280         0
  83  Chair           -3.240         0.002          -1.253         0              117.257        0
  84  Shelf           -2.432         0.523          -1.694         0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: turn left and walk to the end of the kitchen island counter on the right, then turn right and walk over to the kitchen stove at the end of the room, and turn left to walk to the coffee maker | STEP 2: grab the butter knife on the kitchen counter to the right of the coffee maker | STEP 3: turn left and walk over to the kitchen island on the left | STEP 4: cut up the potato on the kitchen island counter | STEP 5: turn around and walk to the sink ahead, then turn right and look upwards a bit | STEP 6: place the butter knife down on the kitchen counter to the left | STEP 7: turn right and walk over to the kitchen island counter | STEP 8: grab a potato slice off of the kitchen counter | STEP 9: turn around and walk to the kitchen stove on the right side of the room | STEP 10: place the potato slice in the microwave above the kitchen stove, cook it, then take it back out | STEP 11: turn around and walk over to the kitchen sink on the right side of the room | STEP 12: place the potato slice inside of the sink on the left | END