Task: Slice a potato, cook a slice in the microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.901          -2.5           0              90             0
   1  Pan             -0.165         0.975          -2.450         0              0              0              70
   2  DishSponge      -0.471         0.745          -1.486         0              0              0              61
   3  ButterKnife     -2.519         0.713          -0.753         0              135            0              82
   4  ButterKnife     -0.338         0.916          -0.524         0              0              0              65
   5  Spoon           -0.338         0.917          -0.472         0              0              0              65
   6  Spoon           -0.257         0.917          -1.432         0              0              0              65
   7  Fork            -0.441         0.747          -3.079         0              90             0              68
   8  Egg             -0.176         0.951          -0.490         0              0              0              65
   9  Plate           -3.079         1.397          -2.064         0              90             0              79
  10  Tomato          -3.292         0.763          -0.433         0              270            0              82
  11  SoapBottle      -2.928         0.713          -0.922         0              0              0              82
  12  SaltShaker      -0.095         0.912          -0.490         0              0              0              65
  13  PepperShaker    -2.652         0.713          -0.886         0              135            0              82
  14  PepperShaker    -0.257         0.912          -0.524         0              0              0              65
  15  Mug             -2.930         0.763          -0.358         0              135            0              78
  16  Apple           -3.182         1.056          -1.817         0              90             0              79
  17  Pot             -0.650         0.916          -3.729         0              90             0              38
  18  Egg             -0.419         0.951          -1.555         0              0              0              65
  19  Cup             -2.564         0.717          -0.194         0              225            0              82
  20  Bread           -0.327         0.948          -3.681         0              298.222        0              38
  21  Fork            -3.169         0.747          -3.078         0              90             0              60
  22  Pan             -3.346         0.912          -3.655         0              270            0              38
  23  Potato          -0.328         0.957          -3.012         0              0              0              38
  24  Lettuce         -2.581         0.801          -0.433         0              270            0              82
  25  Tomato          -1.914         0.840          -3.832         0              0              0              80
  26  Apple           -0.127         1.055          -0.851         0              270            0              75
  27  SoapBottle      -0.014         0.915          -1.493         0              0              0              65
  28  Spatula         -3.150         0.728          -0.558         0              0              0              82
  29  SaltShaker      -3.078         1.864          -2.029         0              0              0              48
  30  Knife           -2.439         0.749          -0.496         0              270            0              82
  31  PepperShaker    -0.412         0.742          -2.858         0              0              0              68
  32  ButterKnife     -3.477         0.913          -3.126         0              0              0              38
  33  Plate           -2.660         1.293          -3.888         0              0              0              51
  34  DishSponge      -2.581         0.716          -0.621         0              270            0              82
  35  Spoon           -3.255         0.714          -0.709         0              225            0              82
  36  Mug             -2.809         0.711          -0.640         0              135            0              82
  37  Bowl            -1.058         0.911          -3.952         0              0              0              38
  38  CounterTop      -1.789         0.949          -3.803         0              0              0
  39  Cabinet         -0.577         0.388          -3.476         0              0              0
  40  Cabinet         -0.605         0.388          -3.511         0              0              0
  41  Cabinet         -2.976         0.388          -3.201         0              0              0
  42  Cabinet         -0.577         0.388          -0.447         0              0              0
  43  Cabinet         -0.577         0.388          -1.725         0              0              0
  44  Cabinet         -0.226         1.803          -1.743         0              0              0
  45  Cabinet         -0.228         1.799          -0.447         0              0              0
  46  Cabinet         -6.010         1.139          -6.019         0              0              0
  47  Cabinet         -3.022         2.098          -2.681         0              0              0
  48  Cabinet         -3.022         2.098          -1.743         0              0              0
  49  Cabinet         -0.577         0.388          -2.736         0              0              0
  50  Cabinet         -3.232         1.803          -3.343         0              0              0
  51  Cabinet         -2.811         1.810          -3.764         0              0              0
  52  Cabinet         -1.233         1.810          -3.764         0              0              0
  53  Cabinet         -1.364         0.388          -3.511         0              0              0
  54  Cabinet         -1.380         0.388          -3.511         0              0              0
  55  Cabinet         -0.226         1.803          -2.725         0              0              0
  56  Cabinet         -0.236         2.098          -1.767         0              0              0
  57  Cabinet         -0.236         2.098          -2.705         0              0              0
  58  Cabinet         -0.193         1.210          -4.239         0              0              0
  59  Cabinet         -2.148         0.388          -3.511         0              0              0
  60  Drawer          -3.104         0.797          -2.968         0              0              0
  61  Drawer          -0.449         0.797          -1.410         0              0              0
  62  Sink            -1.786         0.902          -3.748         0              0              0
  63  StoveBurner     -0.376         0.936          -2.451         0              0              0
  64  Drawer          -0.449         0.797          -0.762         0              0              0
  65  CounterTop      -0.268         0.951          -1.089         0              0              0
  66  Drawer          -0.449         0.797          -3.348         0              0              0
  67  StoveBurner     -0.376         0.936          -2.031         0              180            0
  68  Drawer          -0.449         0.797          -2.968         0              0              0
  69  StoveBurner     -0.165         0.936          -2.030         0              180            0
  70  StoveBurner     -0.165         0.936          -2.450         0              0              0
  71  StoveKnob       -0.568         0.903          -2.313         45             270            0
  72  StoveKnob       -0.568         0.903          -2.470         45             270            0
  73  StoveKnob       -0.568         0.903          -2.166         45             270            0
  74  StoveKnob       -0.568         0.903          -2.003         45             270            0
  75  Microwave       -0.143         0.903          -0.908         0              270            0
  76  LightSwitch     -1.108         1.457          0.338          0              180            0
  77  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  78  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  79  Fridge          -3.188         0.0            -2.184         0              0              0
  80  SinkBasin       -1.786         0.779          -3.747         0              0              0
  81  Toaster         -0.230         0.903          -3.406         0              270            0
  82  DiningTable     -2.800         0.003          -0.505         0              0              0
  83  Chair           -3.044         0.003          -1.223         0              32.194         0
  84  Faucet          -1.791         1.136          -3.913         0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn left, go forward, turn right at the end of the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn right, go forward, turn right at the counter, go forward | STEP 4: Slice the potato on the counter | STEP 5: Turn around, go a bit forward, turn right, go forward, turn right at the edge of the counter | STEP 6: Open the microwave, put the knife in it, close the microwave | STEP 7: Turn around, go forward a bit, turn left, go forward, turn left at the counter | STEP 8: Pick up a potato slice from the counter | STEP 9: Turn around, go a bit forward, turn right, go forward, turn right at the edge of the counter | STEP 10: Open the microwave, put the potato slice in it, close the microwave, start the microwave, open the microwave when it is stopped, take the potato slice, close the microwave | STEP 11: Turn around, go forward a bit, turn left, go to the sink | STEP 12: Put the potato slice in front of the sink | END