Task: Put a microwaved potato slice on a counter

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             1.836          1.027          -1.84          0              90             0              53
   2  Pan             2.404          1.026          1.303          0              136.999        0              55
   3  Potato          2.100          0.806          4.118          0              270            0              56
   4  Potato          1.290          1.068          -1.667         0              90             0              55
   5  Potato          2.634          0.806          3.651          0              329.999        0              56
   6  Ladle           1.170          1.066          -1.987         0              90             0              55
   7  Ladle           2.542          0.803          3.810          0              329.999        0              56
   8  Spatula         -0.577         0.831          1.181          0              0              0              112
   9  Spatula         2.893          0.779          4.307          0              225            0              56
  10  Spoon           2.376          0.765          3.445          0              0              0              56
  11  Spoon           1.297          0.791          -1.546         0              0              0              62
  12  Egg             -0.347         1.071          1.632          0              0              0              58
  13  Cup             -1.022         1.780          1.247          0              0              0              89
  14  Plate           2.621          1.027          -0.846         0              0              0              55
  15  Plate           -0.807         2.290          -0.739         0              0              0              87
  16  Tomato          -1.069         0.839          -0.406         0              90             0              99
  17  Tomato          -0.418         1.081          2.434          0              0              0              58
  18  SoapBottle      -0.360         1.026          1.448          0              0              0              58
  19  SaltShaker      1.655          0.796          1.490          0              317.0          0              70
  20  SaltShaker      2.276          0.760          3.895          0              270            0              56
  21  Bread           -0.987         0.854          -0.184         0              90             0              99
  22  Bread           1.925          0.832          3.895          0              270            0              56
  23  Lettuce         2.763          0.822          3.726          0              329.999        0              56
  24  Lettuce         -0.577         0.874          1.414          0              90             0              112
  25  Mug             -0.803         1.070          0.646          0              90             0              108
  26  Apple           2.868          0.814          4.072          0              225            0              56
  27  Pan             2.621          1.026          -1.151         0              0              0              55
  28  Glassbottle     2.451          0.765          4.044          0              270            0              56
  29  Knife           2.276          0.789          3.821          0              180            0              56
  30  SoapBottle      -1.074         1.026          1.427          0              0              0              58
  31  Egg             -0.669         1.071          2.311          0              0              0              58
  32  Fork            2.706          1.027          -0.236         0              0              0              55
  33  Potato          1.925          0.806          4.192          0              270            0              56
  34  Ladle           -0.782         0.855          1.103          0              180            0              112
  35  Tomato          2.875          1.080          0.068          0              0              0              55
  36  Pot             1.987          1.029          1.750          0              136.999        0              55
  37  WineBottle      -0.418         1.028          0.692          0              0              0              58
  38  Plate           2.578          1.027          0.907          0              136.999        0              55
  39  Spatula         -0.661         0.816          2.464          0              270            0              61
  40  PaperTowelRoll  1.926          0.868          3.747          0              270            0              56
  41  Lettuce         2.395          0.822          4.362          0              329.999        0              56
  42  Apple           2.599          0.814          3.97           0              0              0              56
  43  SaltShaker      2.426          0.760          3.735          0              225            0              56
  44  PepperShaker    1.944          0.798          1.173          0              317.0          0              68
  45  ButterKnife     2.790          1.026          -0.541         0              0              0              55
  46  Bread           2.788          0.832          4.412          0              225            0              56
  47  Cup             -0.451         0.044          2.071          0              0              0              84
  48  DishSponge      -0.852         2.289          -0.217         0              0              0              86
  49  Bowl            2.754          1.025          1.350          0              136.999        0              55
  50  Spoon           1.770          0.802          1.660          0              47.0           0              70
  51  Mug             2.652          0.027          -1.126         0              0              0              97
  52  Sink            -0.716         1.023          1.333          0              0              0
  53  StoveBurner     1.835          1.018          -1.840         0              90             0
  54  StoveBurner     2.177          1.018          -1.599         0              0              0
  55  CounterTop      2.812          0.992          0.675          0              0              0
  56  DiningTable     2.419          0.003          3.930          0              0              0
  57  Drawer          -0.643         0.828          0.616          0              0              0
  58  CounterTop      -0.813         1.062          2.188          0              0              0
  59  StoveBurner     2.115          1.018          -1.840         0              270            0
  60  Drawer          -0.643         0.831          1.953          0              0              0
  61  Drawer          -0.643         0.833          2.418          0              0              0
  62  Drawer          1.347          0.836          -1.539         0              0              0
  63  Drawer          2.693          0.833          -1.131         0              0              0
  64  Drawer          2.693          0.833          -0.699         0              0              0
  65  Drawer          2.693          0.833          -0.267         0              0              0
  66  Drawer          2.693          0.833          0.163          0              0              0
  67  Drawer          2.524          0.833          0.720          0              2.000          0
  68  Drawer          2.232          0.833          1.036          0              2.000          0
  69  Drawer          1.936          0.833          1.354          0              2.000          0
  70  Drawer          1.646          0.833          1.670          0              2.000          0
  71  Cabinet         1.504          2.475          -1.710         0              0              0
  72  Cabinet         -0.823         2.220          1.621          0              0              0
  73  Cabinet         -0.823         2.220          0.615          0              0              0
  74  Cabinet         1.136          0.388          -1.355         0              0              0
  75  Cabinet         -0.356         0.383          2.626          0              0              0
  76  Cabinet         2.745          2.220          -1.690         0              0              0
  77  Cabinet         1.882          0.383          1.017          0              0              0
  78  Cabinet         1.307          0.473          1.640          0              0              0
  79  Cabinet         1.892          0.383          1.006          0              0              0
  80  Cabinet         2.467          0.383          0.383          0              0              0
  81  Cabinet         2.466          0.383          -0.475         0              0              0
  82  Cabinet         2.466          0.473          0.371          0              0              0
  83  Cabinet         2.386          2.475          -1.710         0              0              0
  84  Cabinet         -0.356         0.383          1.712          0              0              0
  85  Cabinet         2.745          2.220          0.019          0              0              0
  86  Cabinet         -0.663         2.496          0.157          0              0              0
  87  Cabinet         -0.663         2.496          -0.868         0              0              0
  88  Cabinet         -0.356         0.383          0.269          0              0              0
  89  Cabinet         -0.823         2.220          1.603          0              0              0
  90  Cabinet         -0.662         2.234          0.586          0              0              0
  91  Cabinet         2.745          2.220          -0.843         0              0              0
  92  Cabinet         2.745          2.220          -0.827         0              0              0
  93  Cabinet         -0.823         2.220          2.608          0              0              0
  94  Cabinet         2.732          2.226          -1.709         0              0              0
  95  Cabinet         1.137          2.226          -1.709         0              0              0
  96  Cabinet         2.466          0.383          -0.491         0              0              0
  97  Cabinet         2.466          0.383          -1.339         0              0              0
  98  StoveBurner     1.761          1.018          -1.599         0              0              0
  99  Fridge          -0.908         0.0            -0.405         0              0              0
 100  HousePlant      2.517          1.016          1.822          0              0              0
 101  Microwave       1.939          1.745          -1.826         0              0              0
 102  StoveKnob       2.017          1.041          -1.514         0              180            180
 103  StoveKnob       1.934          1.041          -1.514         0              180            180
 104  StoveKnob       2.017          1.041          -1.589         0              180            180
 105  StoveKnob       1.934          1.041          -1.589         0              180            180
 106  Window          1.756          1.608          4.762          90             0              0
 107  HousePlant      2.171          1.004          2.091          0              0              0
 108  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 109  LightSwitch     -0.099         1.410          -2.066         0              0              0
 110  GarbageCan      -0.951         -0.029         2.826          0              0              0
 111  Toaster         -1.007         1.018          2.238          0              90             0
 112  SinkBasin       -0.714         0.805          1.348          0              90             0
 113  Chair           1.615          0.004          4.310          0              107.976        0
 114  Faucet          -1.120         1.013          1.334          0              90             0
 115  Chair           2.759          0.004          3.086          0              358.967        0
 116
 117  NorthWall
 118  EastWall
 119  SouthWall
 120  WestWall

Plan:
STEP 1: Turn left, walk straight, turn right to the counter. | STEP 2: Pick up a knife on the counter | STEP 3: Turn left, turn left, walk straight, turn right to the round table. | STEP 4: Slice the potato on the table | STEP 5: Turn left, turn left, walk straight, turn right, walk straight to the counter | STEP 6: Put the knife on the counter | STEP 7: Turn right, turn right, walk straight, turn right to the round table. | STEP 8: Pick up the sliced potato on the table | STEP 9: Turn left, walk straight, turn left, walk straight, turn left, turn right, walk straight to the oven | STEP 10: Open the microwave, put the slice inside, close the microwave, turn on the microwave. Open the microwave, take out the slice, close the microwave | STEP 11: Turn right, walk straight, turn right, walk straight, turn left to the counter | STEP 12: Put the potato on the counter | END