Task: rinse and microwave a potato

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.930          -0.25          0              90             0
   1  Pan             3.044          1.464          -1.697         0              270            0              57
   2  Ladle           0.665          1.711          -1.619         0              90             0              74
   3  Kettle          1.360          0.909          0.464          0              0              0              90
   4  Spatula         -0.868         0.341          -0.361         0              90             0              64
   5  Spoon           2.988          0.713          0.694          0              180            0              81
   6  CellPhone       -0.909         0.515          0.076          0              0              0              64
   7  CellPhone       0.605          0.905          0.218          0              36.810         0              90
   8  Mug             3.049          0.966          0.591          0              270            0              102
   9  Apple           0.851          0.787          -1.381         0              0              0              105
  10  Apple           0.494          0.974          -1.373         0              0              0              80
  11  Bread           3.122          0.979          -0.599         0              0              0              58
  12  Lettuce         0.716          0.976          0.135          0              36.810         0              90
  13  Lettuce         1.229          0.976          0.889          0              0              0              90
  14  Bowl            3.102          1.461          -1.284         0              0              0              73
  15  Egg             -0.985         1.050          1.523          0              90             0              107
  16  Egg             -0.912         0.952          -0.616         0              45             0              59
  17  Cup             -1.018         0.995          1.258          0              90             0              107
  18  Cup             -0.203         1.261          -1.481         0              45             0              76
  19  Knife           3.335          0.926          -0.279         0              90             0              58
  20  Plate           3.028          0.188          -0.404         0              0              0              70
  21  Glassbottle     3.069          0.748          -0.034         0              90             0              104
  22  SoapBottle      -0.958         0.909          -0.874         0              45             0              59
  23  Potato          0.101          0.938          -1.660         0              0              0              80
  24  Fork            -0.991         0.327          1.518          0              90             0              94
  25  Ladle           0.445          0.947          0.326          0              0              0              90
  26  Pot             -0.420         0.902          -0.920         0              135            0              54
  27  Kettle          1.098          0.912          0.605          0              0              0              90
  28  Spatula         0.059          0.915          -1.383         0              45             0              80
  29  Knife           -0.285         0.925          -1.450         0              135            0              80
  30  Lettuce         -0.935         0.965          0.399          0              0              0              59
  31  Cup             -0.729         0.898          -0.699         0              45             0              59
  32  SaltShaker      0.952          1.671          -1.410         0              0              0              74
  33  Egg             -1.052         1.050          1.364          0              90             0              107
  34  PepperShaker    -0.786         0.514          0.489          0              0              0              56
  35  ButterKnife     0.622          0.908          0.928          0              0              0              90
  36  Apple           -0.053         0.974          -1.682         0              45             0              80
  37  Pan             0.341          0.873          -1.649         0              167.065        0              80
  38  Bread           0.669          0.986          0.535          0              36.810         0              90
  39  CellPhone       -0.827         0.704          1.605          0              0              0              52
  40  DishSponge      -0.827         0.706          1.255          0              0              0              52
  41  Tomato          0.533          0.947          0.727          0              0              0              90
  42  Spoon           -0.682         0.519          -0.658         0              315            0              82
  43  Bowl            0.054          0.897          -1.481         0              45             0              80
  44  Mug             -1.085         0.992          1.523          0              270            0              107
  45  Drawer          0.376          0.572          -1.509         0              0              0
  46  Drawer          3.020          0.769          -0.783         0              180            0
  47  Drawer          -0.860         0.577          1.429          0              0              0
  48  StoveBurner     -0.600         0.897          -1.090         0              135            0
  49  Drawer          0.376          0.191          -1.509         0              0              0
  50  Cabinet         1.402          1.874          -1.259         0              0              0
  51  Cabinet         -0.202         1.963          -1.328         0              0              0
  52  Drawer          -0.860         0.765          1.429          0              0              0
  53  Drawer          -0.677         0.765          -0.700         0              0              0
  54  StoveBurner     -0.420         0.897          -0.920         0              135            0
  55  Drawer          3.020          0.769          -0.407         0              180            0
  56  Drawer          -0.860         0.577          0.663          0              0              0
  57  Cabinet         2.819          1.768          -1.850         0              0              0
  58  CounterTop      3.111          0.936          0.019          0              0              0
  59  CounterTop      -1.007         0.935          -0.039         0              0              0
  60  Drawer          -0.860         0.385          0.663          0              0              0
  61  StoveBurner     -0.419         0.897          -1.269         0              315            0
  62  Drawer          -0.047         0.573          -1.324         0              0              0
  63  Drawer          -0.860         0.765          0.663          0              0              0
  64  Drawer          -0.860         0.385          -0.100         0              0              0
  65  Drawer          0.376          0.380          -1.509         0              0              0
  66  Drawer          -0.860         0.765          -0.100         0              0              0
  67  Drawer          0.376          0.765          -1.509         0              0              0
  68  Cabinet         2.849          0.419          0.409          0              0              0
  69  Drawer          -0.047         0.765          -1.324         0              0              0
  70  Cabinet         2.849          0.419          -0.610         0              0              0
  71  Cabinet         2.849          0.419          -0.959         0              0              0
  72  Cabinet         3.069          1.666          -0.709         0              0              0
  73  Cabinet         2.819          1.768          -1.047         0              0              0
  74  Cabinet         0.620          1.874          -1.259         0              0              0
  75  Cabinet         0.140          1.666          -1.559         0              0              0
  76  Cabinet         -0.189         1.666          -1.340         0              0              0
  77  Cabinet         -0.709         1.963          -0.819         0              0              0
  78  Cabinet         -0.920         1.665          -0.620         0              0              0
  79  Drawer          -0.860         0.190          -0.100         0              0              0
  80  CounterTop      0.133          0.935          -1.457         0              0              0
  81  Drawer          3.020          0.769          0.695          0              180            0
  82  Drawer          -0.677         0.577          -0.700         0              0              0
  83  Drawer          -0.860         0.190          1.429          0              0              0
  84  Drawer          -0.047         0.192          -1.324         0              0              0
  85  Drawer          -0.677         0.193          -0.700         0              0              0
  86  Drawer          -0.860         0.577          -0.100         0              0              0
  87  Sink            3.078          0.887          0.086          0              0              0
  88  StoveBurner     -0.239         0.897          -1.089         0              315            0
  89  Drawer          -0.860         0.190          0.663          0              0              0
  90  CounterTop      1.210          0.937          0.463          0              0              0
  91  Drawer          -0.047         0.381          -1.324         0              0              0
  92  Drawer          -0.677         0.387          -0.700         0              0              0
  93  Mirror          -1.295         1.630          0.045          0              0              0
  94  Drawer          -0.860         0.385          1.429          0              0              0
  95  HousePlant      3.196          0.891          -0.368         0              0              0
  96  StoveKnob       -0.090         0.790          -1.009         270            45             0
  97  StoveKnob       -0.280         0.790          -0.819         270            45             0
  98  StoveKnob       -0.180         0.790          -0.920         270            45             0
  99  StoveKnob       -0.370         0.790          -0.720         270            45             0
 100  GarbageCan      3.137          0.025          1.545          0              225            0
 101  Window          3.703          1.675          0.046          90             90             0
 102  CoffeeMachine   3.214          0.890          0.697          0              270            0
 103  LightSwitch     2.592          1.309          -1.880         0              0              0
 104  SinkBasin       3.069          0.736          0.108          0              90             0
 105  Fridge          1.008          0.029          -1.467         0              0              0
 106  Toaster         -1.035         0.873          -0.396         0              90             0
 107  Microwave       -1.034         0.874          1.428          0              90             0
 108  Faucet          3.305          0.886          0.094          270            180            0
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: go to the microwave | STEP 2: take the potato from the microwave | STEP 3: take the potato to the sink | STEP 4: rinse the potato in the sink then remove | STEP 5: take the potato back to the microwave | STEP 6: put the potato in the microwave | END