Task: cook a potato in the 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           -1.75          0.900          1.5            0              0              0
   1  Potato          -0.524         0.943          1.246          0              90             0              91
   2  Pot             0.642          0.850          1.768          0              0              0              77
   3  Spoon           -1.909         0.698          3.774          0              90             0              85
   4  Spoon           -2.497         0.824          3.947          0              0              0              73
   5  Fork            0.839          0.692          2.235          0              270            0              44
   6  Fork            0.650          0.823          2.285          0              90             0              55
   7  Egg             -1.486         1.395          3.934          0              180            0              79
   8  Egg             0.650          0.859          2.545          0              0              0              55
   9  Cup             -2.694         0.766          2.109          0              90             0              82
  10  Cup             0.950          0.822          2.285          0              0              0              55
  11  Knife           1.024          0.846          2.631          0              0              0              55
  12  Knife           -0.789         0.923          1.246          0              90             0              91
  13  SoapBottle      -1.053         0.900          1.452          0              90             0              91
  14  Tomato          -1.185         0.969          1.555          0              90             0              91
  15  Bowl            -0.524         0.898          1.452          0              90             0              91
  16  PepperShaker    1.099          0.819          2.458          0              0              0              55
  17  PepperShaker    -2.670         1.395          3.818          0              0              0              64
  18  SaltShaker      -1.317         0.896          1.143          0              90             0              91
  19  Mug             1.099          0.818          1.072          0              0              0              50
  20  Mug             -2.744         1.602          2.446          0              180            0              82
  21  Apple           -0.657         0.961          1.143          0              90             0              91
  22  Plate           -1.749         1.687          3.897          0              0              0              45
  23  Fork            -1.053         0.901          1.349          0              180            0              91
  24  Bread           0.822          0.880          2.455          5.593          0              6.165          50
  25  Spatula         0.712          0.848          2.134          0              200.845        0              55
  26  PaperTowelRoll  0.725          0.927          0.984          0              90             0              50
  27  Potato          0.875          0.866          0.984          0              0              0              50
  28  SoapBottle      0.931          0.023          2.918          0              0              0              84
  29  Egg             -1.317         0.936          1.040          0              90             0              91
  30  Cup             -2.524         1.041          1.144          0              0              0              53
  31  Pot             0.913          0.850          1.375          0              0              0              49
  32  SaltShaker      -2.667         0.123          3.243          0              0              0              74
  33  Pan             -2.667         0.812          3.74           0              137.145        0              73
  34  PepperShaker    0.650          0.819          0.984          0              0              0              50
  35  ButterKnife     -0.789         0.900          1.452          0              90             0              91
  36  Tomato          -2.643         1.476          2.221          0              90             0              82
  37  DishSponge      -1.255         1.683          3.897          0              0              0              78
  38  Lettuce         -2.461         0.843          2.277          0              90             0              82
  39  Spoon           0.770          0.693          2.496          0              90             0              47
  40  Apple           -1.317         0.961          1.452          0              90             0              91
  41  Knife           0.940          0.837          2.370          1.627          180            353.398        55
  42  Mug             -2.694         0.990          2.221          0              90             0              82
  43  Bowl            -2.502         1.632          3.025          0              0              0              69
  44  Drawer          0.729          0.703          2.199          0              0              0
  45  Cabinet         -1.962         1.926          3.733          0              0              0
  46  Cabinet         -2.377         2.014          1.058          0              0              0
  47  Drawer          0.729          0.703          2.532          0              0              0
  48  Cabinet         -2.622         1.925          3.733          0              0              0
  49  StoveBurner     0.913          0.843          1.375          0              0              0
  50  CounterTop      0.864          0.858          0.984          0              0              0
  51  Cabinet         -1.976         1.779          3.734          0              0              0
  52  Cabinet         0.580          0.385          0.819          0              0              0
  53  Cabinet         -2.379         1.408          1.677          0              0              0
  54  Cabinet         -0.419         1.703          3.736          0              0              0
  55  CounterTop      0.864          0.858          2.371          0              0              0
  56  Sink            -1.702         0.726          3.828          0              180            0
  57  Cabinet         0.580          0.385          2.694          0              0              0
  58  Cabinet         -2.379         0.637          1.677          0              0              0
  59  Cabinet         -0.419         0.674          3.736          0              0              0
  60  Cabinet         -2.377         2.014          2.558          0              0              0
  61  Drawer          0.729          0.703          0.980          0              0              0
  62  Drawer          -2.114         0.706          3.657          0              0              0
  63  Cabinet         -2.377         1.691          2.572          0              0              0
  64  Cabinet         -2.951         1.925          3.733          0              0              0
  65  Cabinet         0.580          0.385          2.360          0              0              0
  66  Cabinet         -2.426         0.435          3.421          0              0              0
  67  StoveBurner     0.642          0.843          1.375          0              0              0
  68  Cabinet         -2.377         1.927          1.686          0              0              0
  69  Cabinet         -2.377         2.013          3.177          0              0              0
  70  Cabinet         -1.136         0.385          3.516          0              0              0
  71  StoveBurner     0.913          0.843          1.768          0              0              0
  72  Cabinet         -1.974         0.385          3.516          0              0              0
  73  CounterTop      -2.081         0.858          3.799          0              0              0
  74  Cabinet         -2.426         0.435          3.174          0              0              0
  75  Cabinet         -2.377         2.014          1.693          0              0              0
  76  Cabinet         -1.986         0.385          3.511          0              0              0
  77  StoveBurner     0.642          0.843          1.768          0              0              0
  78  Cabinet         -1.098         1.926          3.729          0              0              0
  79  Microwave       -1.529         1.250          3.881          1.622          180            0
  80  CoffeeMachine   1.000          0.812          2.492          0              270            0
  81  LightSwitch     0.825          1.396          4.082          0              180            0
  82  Fridge          -2.642         0.0            2.134          0              180            0
  83  Window          -1.131         1.673          0.808          90             0              0
  84  GarbageCan      0.931          -0.000         2.918          0              0              0
  85  SinkBasin       -1.601         0.686          3.774          0              0              0
  86  StoveKnob       1.104          1.002          1.886          0              0              70.346
  87  StoveKnob       1.104          1.002          1.733          0              0              70.346
  88  StoveKnob       1.104          1.002          1.321          0              0              70.346
  89  StoveKnob       1.104          1.002          1.481          0              0              70.346
  90  Toaster         -2.247         0.812          3.862          0              180            0
  91  DiningTable     -0.917         -0.000         1.203          0              0              0
  92  Stool           -0.932         0.000          1.404          1.196          21.715         0
  93  Faucet          -1.842         0.809          3.984          0              180            0
  94  Faucet          -1.371         0.809          3.985          0              180            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: walk towards the fridge, turn right, walk across the room, turn right after the table, turn right to face the table | STEP 2: pick up the knife that is on the table | STEP 3: turn around to face the stove | STEP 4: cut the potato that is on the counter | STEP 5: set the knife down on the counter | STEP 6: pick up a potato slice from the counter | STEP 7: turn left, walk forward, turn left, walk towards fridge, turn right, walk towards the sink | STEP 8: open the microwave, put potato in, close it, turn it on, take potato out, close microwave | STEP 9: turn left, walk forward one step, turn right to face the sink | STEP 10: put the potato slice in the left side of the sink | END