Task: put a heated slice of a potato inside 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           -0.5           0.900          2.5            0              90             0
   1  Potato          -0.644         1.131          -1.559         0              0              0              75
   2  Potato          -0.741         1.723          -1.559         0              0              0              75
   3  Ladle           0.476          0.954          1.092          0              90             0              48
   4  Ladle           1.865          0.955          -1.288         0              0              0              52
   5  DishSponge      1.501          0.910          1.269          0              90             0              48
   6  DishSponge      1.842          2.136          0.805          0              0              0              56
   7  Pot             1.548          0.909          0.075          0              180            0              54
   8  Fork            1.684          0.911          0.570          0              180            0              48
   9  Egg             -0.595         1.718          -1.524         0              0              0              75
  10  Egg             1.830          0.105          1.588          0              270            0              66
  11  Cup             -0.692         0.744          -1.664         0              0              0              75
  12  Cup             1.740          2.134          1.083          0              0              0              55
  13  Plate           1.757          0.912          1.180          0              90             0              48
  14  Knife           0.220          0.943          0.827          0              90             0              48
  15  Knife           1.586          0.943          -1.374         0              180            0              52
  16  SoapBottle      1.879          1.637          0.543          0              0              0              57
  17  SoapBottle      1.877          1.652          -0.497         0              0              0              59
  18  Tomato          1.917          0.974          0.570          0              90             0              48
  19  Tomato          -0.256         1.123          -1.382         0              0              0              75
  20  Bowl            1.865          0.910          -1.545         0              90             0              52
  21  SaltShaker      0.988          0.905          1.004          0              90             0              48
  22  PepperShaker    1.355          0.906          -1.264         0              90             0              52
  23  Mug             1.840          1.640          -1.683         0              0              0              62
  24  Apple           -0.692         0.807          -1.524         0              0              0              75
  25  Apple           1.706          1.072          -0.729         0              270            0              72
  26  Plate           -0.692         1.390          -1.594         0              0              0              75
  27  SoapBottle      1.805          1.652          -0.305         0              0              0              59
  28  Cup             1.762          0.908          0.415          0              90             0              48
  29  Egg             1.101          0.795          -1.654         0              0              0              67
  30  Fork            1.205          0.752          -1.725         0              0              0              67
  31  Ladle           1.806          1.699          -0.002         0              0              0              58
  32  Apple           1.586          0.968          -1.288         0              90             0              52
  33  SaltShaker      1.865          0.906          -1.717         0              90             0              52
  34  Pan             1.281          0.900          1.190          0              0              0              48
  35  Tomato          1.77           0.134          1.731          0              270            0              66
  36  Spatula         0.476          0.925          1.004          0              90             0              48
  37  Potato          0.840          0.951          -1.247         0              90             0              52
  38  Knife           1.140          0.760          -1.584         271.503        77.663         282.515        67
  39  ButterKnife     0.296          0.9            -1.296         0              14.568         0              52
  40  Bread           1.615          0.977          0.761          0              50.525         0              48
  41  Lettuce         0.856          0.989          1.120          0              270            1.590          48
  42  PepperShaker    1.757          0.905          0.915          0              90             0              48
  43  Pot             1.543          0.909          -0.320         0              90             0              51
  44  DishSponge      1.684          0.910          0.311          0              90             0              48
  45  Spoon           1.245          0.911          0.827          0              90             0              48
  46  Bowl            1.529          0.909          0.415          0              90             0              48
  47  Mug             0.502          0.940          -1.460         0              0              0              74
  48  CounterTop      0.989          0.946          1.016          0              90             0
  49  StoveBurner     1.807          0.907          0.075          0              180            0
  50  StoveBurner     1.807          0.907          -0.320         0              180            0
  51  StoveBurner     1.543          0.907          -0.320         0              90             0
  52  CounterTop      0.989          0.946          -1.516         0              90             0
  53  Sink            1.100          0.906          -1.599         0              0              0
  54  StoveBurner     1.548          0.907          0.075          0              180            0
  55  Cabinet         1.658          2.299          1.313          0              0              0
  56  Cabinet         1.658          2.299          0.686          0              0              0
  57  Cabinet         1.658          2.049          0.673          0              0              0
  58  Cabinet         1.658          2.059          0.193          0              0              0
  59  Cabinet         1.658          2.059          -0.593         0              0              0
  60  Cabinet         1.658          2.049          -0.606         0              0              0
  61  Cabinet         1.658          2.049          -1.206         0              0              0
  62  Cabinet         1.658          2.049          -1.893         0              0              0
  63  Toaster         0.131          0.900          -1.589         0              0              0
  64  Window          -0.372         1.588          3.349          90             0              0
  65  Window          0.782          1.741          -1.893         90             0              0
  66  GarbageCan      1.770          -0.029         1.685          0              270            0
  67  SinkBasin       1.091          0.740          -1.599         0              0              0
  68  StoveKnob       1.364          0.821          0.086          48.421         270            0
  69  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  70  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  71  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  72  Microwave       1.752          0.900          -0.843         0              270            0
  73  LightSwitch     2.0            1.261          3.094          0              270            0
  74  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  75  Fridge          -0.533         0.0            -1.554         0              0              0
  76  Chair           1.068          0.000          1.752          0              191.622        0
  77  Faucet          1.110          1.138          -1.764         0              270            0
  78  Chair           0.357          0.000          1.710          0              178.899        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: turn around to the right go forward turn right towards the sink | STEP 2: pick up the potato from the sink | STEP 3: turn to the left go forward towards the sink | STEP 4: put the potato on the sink  | STEP 5: pick up the knife from the sink  | STEP 6: slice the potato that is inside the sink | STEP 7: pick up a slice of the potato | STEP 8: turn to the left towards the microwave | STEP 9: open the microwave door put the slice inside the microwave | STEP 10: heat up the slice of potato in the microwave  | STEP 11: get it back out turn to the right towards the sink | STEP 12: put the slice inside the sink | END