Task: place microwaved potato in sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          1.25           0              90             0
   1  Pan             1.543          0.909          -0.320         0              90             0              50
   2  Potato          0.926          0.951          -1.247         0              90             0              51
   3  Potato          0.476          0.950          0.739          0              90             0              47
   4  Potato          1.451          0.950          0.311          0              90             0              47
   5  ButterKnife     1.245          0.910          0.915          0              90             0              47
   6  ButterKnife     0.989          0.910          0.915          0              90             0              47
   7  DishSponge      0.732          0.910          0.739          0              90             0              47
   8  Fork            1.607          0.911          0.570          0              180            0              47
   9  Knife           1.586          0.943          -1.631         0              180            0              51
  10  Knife           0.476          0.943          1.004          0              90             0              47
  11  SoapBottle      1.770          1.633          -1.297         0              0              0              60
  12  SoapBottle      1.805          1.652          -0.497         0              0              0              58
  13  Tomato          -0.838         0.524          -1.412         0              0              0              74
  14  Bowl            1.805          1.631          -1.046         0              0              0              59
  15  Bowl            1.757          0.909          1.092          0              90             0              47
  16  SaltShaker      1.878          2.131          1.159          0              0              0              54
  17  SaltShaker      1.796          0.906          -1.460         0              90             0              51
  18  PepperShaker    1.740          2.131          1.159          0              0              0              54
  19  PepperShaker    1.451          0.905          0.570          0              90             0              47
  20  Lettuce         0.220          1.010          0.915          0              90             0              47
  21  Mug             -0.595         0.455          -1.476         0              0              0              74
  22  Mug             1.877          1.630          -1.419         0              0              0              60
  23  Apple           -0.741         0.517          -1.541         0              0              0              74
  24  Apple           -0.295         1.121          -1.382         0              0              0              74
  25  Plate           1.802          1.647          -0.000         0              0              0              57
  26  SoapBottle      1.739          0.068          1.636          0              270            0              65
  27  Cup             1.769          2.135          0.880          0              0              0              55
  28  Egg             1.516          0.946          -1.288         0              90             0              51
  29  Fork            1.501          0.911          0.915          0              90             0              47
  30  Ladle           1.607          0.954          0.467          0              90             0              47
  31  Apple           -0.790         1.446          -1.629         0              0              0              74
  32  SaltShaker      1.772          1.634          0.263          0              0              0              56
  33  Pan             1.281          0.900          1.190          0              0              0              47
  34  Tomato          1.839          0.974          0.467          0              90             0              47
  35  Spatula         1.796          0.926          -1.545         0              0              0              51
  36  Potato          -0.790         0.786          -1.629         0              0              0              74
  37  Knife           1.139          0.761          -1.584         271.544        82.459         277.720        66
  38  ButterKnife     1.586          0.911          -1.717         0              270            0              51
  39  Bread           1.615          0.977          0.761          0              50.525         0              47
  40  Lettuce         0.856          0.989          1.120          0              270            1.809          47
  41  PepperShaker    1.501          0.905          1.180          0              90             0              47
  42  Pot             1.807          0.909          0.075          0              180            0              48
  43  DishSponge      1.844          1.638          0.487          0              0              0              56
  44  Spoon           1.607          0.911          0.363          0              90             0              47
  45  Bowl            0.193          0.900          1.170          0              0              0              47
  46  Mug             1.876          1.628          -0.682         0              0              0              59
  47  CounterTop      0.989          0.946          1.016          0              90             0
  48  StoveBurner     1.807          0.907          0.075          0              180            0
  49  StoveBurner     1.807          0.907          -0.320         0              180            0
  50  StoveBurner     1.543          0.907          -0.320         0              90             0
  51  CounterTop      0.989          0.946          -1.516         0              90             0
  52  Sink            1.100          0.906          -1.599         0              0              0
  53  StoveBurner     1.548          0.907          0.075          0              180            0
  54  Cabinet         1.658          2.299          1.313          0              0              0
  55  Cabinet         1.658          2.299          0.686          0              0              0
  56  Cabinet         1.658          2.049          0.673          0              0              0
  57  Cabinet         1.658          2.059          0.193          0              0              0
  58  Cabinet         1.658          2.059          -0.593         0              0              0
  59  Cabinet         1.658          2.049          -0.606         0              0              0
  60  Cabinet         1.658          2.049          -1.206         0              0              0
  61  Cabinet         1.658          2.049          -1.893         0              0              0
  62  Toaster         0.131          0.900          -1.589         0              0              0
  63  Window          -0.372         1.588          3.349          90             0              0
  64  Window          0.782          1.741          -1.893         90             0              0
  65  GarbageCan      1.770          -0.029         1.685          0              270            0
  66  SinkBasin       1.091          0.740          -1.599         0              0              0
  67  StoveKnob       1.364          0.821          0.086          48.421         270            0
  68  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  69  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  70  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  71  Microwave       1.752          0.900          -0.843         0              270            0
  72  LightSwitch     2.0            1.261          3.094          0              270            0
  73  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  74  Fridge          -0.533         0.0            -1.554         0              0              0
  75  Chair           1.068          0.000          1.752          0              191.622        0
  76  Faucet          1.110          1.138          -1.764         0              270            0
  77  Chair           0.357          0.000          1.710          0              178.899        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: turn right, go to sink to the left | STEP 2: pick up potato in front of sink | STEP 3: turn left to face microwave on counter | STEP 4: open microwave, place potato on plate in microwave, close microwave, microwave potato, open microwave, pick up potato from microwave, close microwave | STEP 5: turn right, face sink with yellow handle knife | STEP 6: place potato in sink in front of knife | END