Task: slice a potato to heat the slice, place potato in sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.901          -1.0           0              270            0
   1  Pan             -2.660         1.293          -3.927         0              270            0              40
   2  Potato          -3.167         0.957          -3.729         0              0              0              40
   3  Potato          -2.620         0.757          -0.652         0              135            0              84
   4  Potato          -3.130         0.685          -2.002         0              90             0              81
   5  DishSponge      -3.140         0.746          -3.078         0              0              0              62
   6  DishSponge      -2.803         0.713          -0.069         0              0              0              84
   7  Spatula         -1.845         0.805          -3.832         0              90             0              82
   8  Spatula         -1.058         0.928          -3.729         0              0              0              40
   9  Fork            -0.854         0.914          -3.581         0              0              0              40
  10  Fork            -3.255         0.714          -0.709         0              225            0              84
  11  Cup             -0.491         0.080          -0.683         0              0              0              44
  12  SoapBottle      -3.477         0.913          -3.327         0              0              0              40
  13  SoapBottle      -2.753         0.716          -0.206         0              225            0              84
  14  Bowl            -0.160         0.911          -2.911         0              0              0              40
  15  SaltShaker      -2.777         0.713          -0.584         0              225            0              84
  16  PepperShaker    -0.095         0.912          -0.490         0              0              0              67
  17  PepperShaker    -0.076         0.910          -3.213         0              0              0              40
  18  Lettuce         -2.865         0.801          -0.780         0              0              0              84
  19  Pot             -0.376         0.975          -2.031         0              180            0              69
  20  Egg             -0.014         0.951          -1.432         0              0              0              67
  21  Cup             -0.243         0.914          -3.952         0              0              0              40
  22  Bread           -0.327         0.948          -3.681         0              298.222        0              40
  23  Fork            -2.721         0.717          -0.439         0              315            0              84
  24  Pan             -0.394         0.973          -2.414         0              0              0              65
  25  Potato          -2.808         0.957          -3.878         0              0              0              40
  26  Lettuce         -2.581         0.804          -0.433         0              270            0              84
  27  Tomato          -2.270         0.963          -3.581         0              0              0              40
  28  Apple           -0.447         0.956          -4.026         0              0              0              40
  29  SoapBottle      -1.263         0.079          -3.597         0              0              0              55
  30  Spatula         -3.150         0.728          -0.683         0              180            0              84
  31  SaltShaker      -0.441         0.742          -3.134         0              0              0              70
  32  Knife           -2.821         0.746          -0.540         0              45             0              84
  33  PepperShaker    -3.082         0.742          -2.912         0              0              0              62
  34  ButterKnife     -0.419         0.916          -1.370         0              0              0              67
  35  Plate           -3.130         1.011          -2.125         0              90             0              81
  36  DishSponge      -0.338         0.915          -1.432         0              0              0              67
  37  Spoon           -3.393         0.914          -3.026         0              0              0              40
  38  Mug             -0.500         0.910          -0.507         0              0              0              67
  39  Bowl            -3.130         1.396          -2.002         0              90             0              81
  40  CounterTop      -1.789         0.949          -3.803         0              0              0
  41  Cabinet         -0.577         0.388          -3.476         0              0              0
  42  Cabinet         -0.605         0.388          -3.511         0              0              0
  43  Cabinet         -2.976         0.388          -3.201         0              0              0
  44  Cabinet         -0.577         0.388          -0.447         0              0              0
  45  Cabinet         -0.577         0.388          -1.725         0              0              0
  46  Cabinet         -0.226         1.803          -1.743         0              0              0
  47  Cabinet         -0.228         1.799          -0.447         0              0              0
  48  Cabinet         -6.010         1.139          -6.019         0              0              0
  49  Cabinet         -3.022         2.098          -2.681         0              0              0
  50  Cabinet         -3.022         2.098          -1.743         0              0              0
  51  Cabinet         -0.577         0.388          -2.736         0              0              0
  52  Cabinet         -3.232         1.803          -3.343         0              0              0
  53  Cabinet         -2.811         1.810          -3.764         0              0              0
  54  Cabinet         -1.233         1.810          -3.764         0              0              0
  55  Cabinet         -1.364         0.388          -3.511         0              0              0
  56  Cabinet         -1.380         0.388          -3.511         0              0              0
  57  Cabinet         -0.226         1.803          -2.725         0              0              0
  58  Cabinet         -0.236         2.098          -1.767         0              0              0
  59  Cabinet         -0.236         2.098          -2.705         0              0              0
  60  Cabinet         -0.193         1.210          -4.239         0              0              0
  61  Cabinet         -2.148         0.388          -3.511         0              0              0
  62  Drawer          -3.104         0.797          -2.968         0              0              0
  63  Drawer          -0.449         0.797          -1.410         0              0              0
  64  Sink            -1.786         0.902          -3.748         0              0              0
  65  StoveBurner     -0.376         0.936          -2.451         0              0              0
  66  Drawer          -0.449         0.797          -0.762         0              0              0
  67  CounterTop      -0.268         0.951          -1.089         0              0              0
  68  Drawer          -0.449         0.797          -3.348         0              0              0
  69  StoveBurner     -0.376         0.936          -2.031         0              180            0
  70  Drawer          -0.449         0.797          -2.968         0              0              0
  71  StoveBurner     -0.165         0.936          -2.030         0              180            0
  72  StoveBurner     -0.165         0.936          -2.450         0              0              0
  73  StoveKnob       -0.568         0.903          -2.313         45             270            0
  74  StoveKnob       -0.568         0.903          -2.470         45             270            0
  75  StoveKnob       -0.568         0.903          -2.166         45             270            0
  76  StoveKnob       -0.568         0.903          -2.003         45             270            0
  77  Microwave       -0.143         0.903          -0.908         0              270            0
  78  LightSwitch     -1.108         1.457          0.338          0              180            0
  79  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  80  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  81  Fridge          -3.188         0.0            -2.184         0              0              0
  82  SinkBasin       -1.786         0.779          -3.747         0              0              0
  83  Toaster         -0.230         0.903          -3.406         0              270            0
  84  DiningTable     -2.800         0.003          -0.505         0              0              0
  85  Chair           -3.044         0.003          -1.223         0              32.194         0
  86  Faucet          -1.791         1.136          -3.913         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn then move to the counter where the microwave is | STEP 2: Pick up the knife that is on top of the counter by the microwave | STEP 3: Carry the knife to the counter to the left of the fridge where the two potatoes are | STEP 4: Slice the potato on the far left | STEP 5: Move to the kitchen sink | STEP 6: Place the knife in the sink | STEP 7: Move back to the counter top where the sliced potato is on top of the counter | STEP 8: Pick up a potato slice | STEP 9: Carry the potato slice to the microwave | STEP 10: Place the potato in the microwave then shut the door to cook then remove the potato | STEP 11: Carry the potato to the kitchen sink | STEP 12: Place the potato in the sink basin | END