Task: Slice a potato, clean it, and put in microwave to heat up.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.908          0.5            0              270            0
   1  SprayBottle     1.444          0.910          -0.428         0              0              0              76
   2  SprayBottle     1.367          0.885          2.477          0              0              0              108
   3  Potato          1.284          0.931          2.477          0              0              0              108
   4  CellPhone       1.127          0.774          1.114          0              0              0              86
   5  ButterKnife     1.444          0.911          0.422          0              0              0              76
   6  ButterKnife     1.200          0.875          2.800          0              0              0              108
   7  Glassbottle     -1.388         1.656          -0.481         0              0              0              63
   8  Kettle          0.502          0.939          -0.740         0              90             0              83
   9  Fork            -1.105         0.750          2.273          0              0              0              57
  10  Spatula         1.523          0.926          -0.428         0              90             0              76
  11  Spatula         -1.012         0.764          2.087          0              0              0              57
  12  Pot             0.502          0.939          -0.469         0              0              0              89
  13  Egg             -1.329         1.049          0.046          0              90             0              102
  14  Egg             -1.437         0.946          -0.562         0              0              0              82
  15  Cup             -1.320         1.420          0.987          0              90             0              96
  16  Cup             -1.361         1.014          -0.057         0              90             0              102
  17  Plate           1.327          1.661          0.194          0              0              0              58
  18  Knife           -0.038         0.934          -0.348         0              0              0              82
  19  Knife           1.286          0.933          0.706          0              0              0              76
  20  Tomato          -1.263         1.470          1.197          0              90             0              96
  21  Tomato          -1.206         1.470          0.673          0              90             0              96
  22  Bowl            -1.290         0.748          2.459          0              0              0              57
  23  Bread           1.034          0.949          2.261          0              0              0              108
  24  Bread           1.128          0.974          0.139          0              0              0              76
  25  SaltShaker      -1.105         0.745          2.644          0              0              0              57
  26  SaltShaker      1.294          2.153          0.686          0              0              0              67
  27  PepperShaker    -1.513         0.908          -0.902         0              0              0              82
  28  Mug             1.215          0.943          -0.633         0              320.314        0              95
  29  Mug             -1.320         1.631          1.289          0              90             0              96
  30  Apple           -0.082         0.818          -0.533         0              0              0              103
  31  Bread           1.068          0.935          2.684          0              0              0              108
  32  Glassbottle     -1.263         2.154          1.093          0              0              0              74
  33  Fork            0.103          0.759          -0.612         0              0              0              103
  34  Kettle          -1.357         0.739          3.024          0              240.000        0              57
  35  Tomato          -1.149         1.470          0.988          0              90             0              96
  36  Plate           1.444          0.912          0.139          0              0              0              76
  37  CellPhone       -1.513         0.909          -0.392         0              0              0              82
  38  Lettuce         1.238          0.969          -0.16          0              0              0              76
  39  Pot             0.802          0.939          -0.740         0              90             0              85
  40  SoapBottle      1.049          0.912          0.422          0              0              0              76
  41  WineBottle      -1.263         0.752          1.302          0              90             0              96
  42  Spatula         -1.197         0.763          2.459          0              180            0              57
  43  Bowl            1.367          0.884          2.261          0              0              0              108
  44  Apple           -1.197         0.809          3.015          0              0              0              57
  45  Cup             -1.012         0.748          2.459          0              0              0              57
  46  Knife           1.286          0.933          -0.144         0              180            0              76
  47  Egg             -1.263         1.049          -0.005         0              90             0              102
  48  SaltShaker      -1.513         0.908          -0.562         0              0              0              82
  49  PepperShaker    1.262          0.112          1.119          0              0              0              68
  50  Potato          -1.383         0.794          2.087          0              0              0              57
  51  ButterKnife     -1.123         0.912          -0.430         0              0              0              82
  52  DishSponge      -1.325         2.153          1.206          0              0              0              75
  53  Pan             -1.206         0.750          0.778          0              90             0              96
  54  Spoon           -1.012         0.750          1.902          0              0              0              57
  55  SprayBottle     0.086          0.116          -0.621         0              0              0              71
  56  Mug             -0.020         0.753          -0.691         0              0              0              103
  57  DiningTable     -1.182         0.006          2.414          0              90             0
  58  Cabinet         1.184          2.059          0.375          0              0              0
  59  Cabinet         1.184          2.059          -0.635         0              0              0
  60  Cabinet         0.591          2.309          -0.645         0              0              0
  61  Cabinet         -0.574         2.059          -0.644         0              0              0
  62  Cabinet         -1.103         2.059          -0.644         0              0              0
  63  Cabinet         -1.185         2.059          -0.331         0              0              0
  64  Cabinet         -1.185         2.059          -0.281         0              0              0
  65  Cabinet         -1.185         2.059          0.375          0              0              0
  66  Cabinet         1.184          2.309          1.174          0              0              0
  67  Cabinet         1.184          2.309          0.424          0              0              0
  68  Cabinet         0.988          0.402          0.581          0              0              0
  69  Cabinet         0.988          0.402          0.531          0              0              0
  70  Cabinet         0.988          0.402          -0.178         0              0              0
  71  Cabinet         0.335          0.402          -0.348         0              0              0
  72  Cabinet         -0.374         0.402          -0.348         0              0              0
  73  Cabinet         0.988          0.402          1.231          0              0              0
  74  Cabinet         -1.185         2.309          1.374          0              0              0
  75  Cabinet         -1.185         2.309          0.424          0              0              0
  76  CounterTop      1.274          0.947          0.064          0              0              0
  77  Drawer          1.116          0.792          -0.015         0              0              0
  78  Drawer          -1.116         0.792          0.210          0              180            0
  79  Cabinet         -0.990         0.402          0.374          0              180            0
  80  Drawer          -1.116         0.792          -0.170         0              180            0
  81  Cabinet         -0.990         0.402          -0.335         0              180            0
  82  CounterTop      -1.001         0.947          -0.669         0              0              0
  83  StoveBurner     0.502          0.932          -0.740         0              90             0
  84  StoveBurner     0.801          0.932          -0.473         0              0              0
  85  StoveBurner     0.801          0.932          -0.740         0              90             0
  86  Drawer          1.116          0.792          1.081          0              0              0
  87  Sink            -0.013         0.912          -0.615         0              0              0
  88  Drawer          1.116          0.792          0.732          0              0              0
  89  StoveBurner     0.502          0.932          -0.469         0              0              0
  90  Drawer          1.116          0.792          0.367          0              0              0
  91  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  92  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  93  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  94  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  95  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  96  Fridge          -1.300         0.008          0.987          0              90             0
  97  GarbageCan      1.296          -0.024         1.465          0              0              0
  98  Window          -0.012         1.641          -0.972         90             0              0
  99  Window          1.598          1.646          2.489          90             270            0
 100  Toaster         1.356          0.900          1.044          0              270            0
 101  LightSwitch     0.118          1.353          3.799          0              180            0
 102  Microwave       -1.343         0.900          0.053          0              90             0
 103  SinkBasin       -0.029         0.748          -0.612         0              0              0
 104  Faucet          -0.026         0.927          -0.808         0              0              0
 105  Shelf           -1.182         0.127          2.414          0              90             0
 106  Stool           1.140          0.007          3.262          1.206          20.753         0
 107  Shelf           -1.182         0.435          2.414          0              90             0
 108  DiningTable     1.169          0.014          2.569          0              0              1.896
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: Take a step left toward the sink and back to the microwave. | STEP 2: Pick up the knife next to the microwave on the counter. | STEP 3: Turn right and walk to the other side of the refrigerator. | STEP 4: Cut up the potato on the table. | STEP 5: Turn left and walk back toward the sink and turn right to the microwave. | STEP 6: Open the microwave door.  Put the knife in the back of the microwave, behind the eggs. | STEP 7: Close the microwave door.  Turn right and walk back to the other side of the refrigerator.  Turn left toward the table. | STEP 8: Pick up a slice of the potato.   | STEP 9: Turn left and walk toward the sink. | STEP 10: Put the slice of potato in the sink next to the apple.  Turn on the water and fill up the sink.  Turn off the water and drain the sink.  Pick up the slice of potato. | STEP 11: Turn to the right facing the microwave. | STEP 12: Open up the microwave door.  Put the slice of potato to the right of the eggs.  Close the door. | END