Task: put cooked potato into kitchen sink

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            0.900          1.25           0              180            0
   1  Book            -0.335         1.110          -0.759         0              0              0              58
   2  Pan             -1.805         0.135          -1.623         0              180            0              59
   3  Potato          -2.100         0.941          -2.695         0              0              0              83
   4  CreditCard      1.891          0.877          -2.563         0              180            0              85
   5  CreditCard      -2.100         0.908          0.230          0              0              0              83
   6  Egg             0.217          1.146          -0.506         0              0              0              58
   7  Tomato          0.969          0.949          -2.253         0              0              0              60
   8  SaltShaker      -1.765         0.126          0.112          0              90             0              64
   9  PepperShaker    -1.826         0.150          -0.293         0              90             0              81
  10  PepperShaker    -0.816         0.133          -2.554         0              0              0              76
  11  Bread           0.355          1.184          -0.506         0              0              0              58
  12  Apple           -0.473         1.162          -0.253         0              0              0              58
  13  Knife           -0.059         1.136          -0.506         0              0              0              58
  14  Knife           -1.597         0.936          -1.682         0              90             0              93
  15  Fork            1.065          0.481          -2.380         0              0              0              66
  16  Spoon           -0.197         1.112          0.504          0              0              0              58
  17  Pot             -2.040         1.507          1.092          0              90             0              91
  18  Glassbottle     -1.962         0.048          2.124          0              270            0              89
  19  Glassbottle     -1.797         0.770          -1.760         0              90             0              93
  20  WineBottle      -1.935         0.048          1.981          0              270            0              89
  21  Bowl            -2.121         0.537          1.251          0              90             0              91
  22  Bowl            -1.963         0.766          -1.328         0              90             0              93
  23  Book            0.155          1.1            0.617          0              315            0              58
  24  Glassbottle     1.582          0.553          -2.666         0              180            0              88
  25  Knife           0.355          1.136          -0.253         0              0              0              58
  26  Bread           -2.019         0.983          -0.513         0              0              0              83
  27  Fork            -1.774         0.911          -2.256         0              0              0              83
  28  Potato          -1.742         0.800          -1.414         0              90             0              93
  29  SoapBottle      -1.693         0.912          -0.513         0              0              0              83
  30  Kettle          -0.036         0.950          -2.576         0              270            0              61
  31  Pan             -0.335         1.111          0.757          0              0              0              58
  32  Plate           0.582          0.907          -2.637         0              0              0              60
  33  Tomato          -2.162         0.837          1.251          0              90             0              91
  34  Vase            2.042          0.540          -2.495         0              0              0              88
  35  Egg             -0.173         1.825          -2.610         0              0              0              84
  36  CreditCard      0.969          0.907          -2.407         0              0              0              60
  37  Statue          0.079          1.110          -0.001         0              0              0              58
  38  WineBottle      -0.816         0.137          -2.352         0              0              0              76
  39  Pot             0.079          1.115          -0.759         0              0              0              58
  40  Spatula         0.840          0.925          -2.407         0              0              0              60
  41  PaperTowelRoll  1.686          0.985          -2.509         0              180            0              85
  42  Cup             -1.296         0.134          -2.301         0              0              0              76
  43  Vase            -0.848         0.909          -2.637         0              0              0              83
  44  Bowl            -0.335         1.108          -0.001         0              0              0              58
  45  SaltShaker      -1.740         0.150          -0.293         0              90             0              81
  46  PepperShaker    -1.694         0.474          -0.100         0              90             0              73
  47  Lettuce         -1.290         0.991          -2.406         0              0              0              83
  48  ButterKnife     0.453          0.910          -2.253         0              0              0              60
  49  Apple           -0.277         1.841          -2.610         0              0              0              84
  50  DishSponge      0.336          0.140          -2.337         0              0              0              75
  51  Spoon           0.840          0.911          -2.637         0              0              0              60
  52  Mug             -1.797         0.764          -1.587         0              90             0              93
  53  StoveBurner     -0.036         0.915          -2.372         0              0              0
  54  Drawer          0.949          0.832          -2.197         0              0              0
  55  Drawer          -1.560         0.839          0.204          0              90             0
  56  StoveBurner     -0.465         0.915          -2.371         0              180            0
  57  Drawer          -1.560         0.839          -0.197         0              90             0
  58  CounterTop      -0.079         1.147          -0.001         0              0              0
  59  Cabinet         -1.549         0.494          -1.964         0              90             0
  60  CounterTop      0.693          0.946          -2.483         0              0              0
  61  StoveBurner     -0.036         0.915          -2.576         0              0              0
  62  Drawer          0.949          0.393          -2.200         0              0              0
  63  Drawer          0.949          0.708          -2.200         0              0              0
  64  Cabinet         -1.549         0.494          0.379          0              90             0
  65  StoveKnob       -0.022         0.881          -2.187         45             0              0
  66  Drawer          0.949          0.560          -2.201         0              0              0
  67  StoveBurner     -0.465         0.915          -2.575         0              180            0
  68  Window          -2.230         1.429          -1.203         0              0              0
  69  StoveKnob       -0.483         0.881          -2.187         45             0              0
  70  Sink            -1.899         0.964          -1.5           0              90             0
  71  StoveKnob       -0.328         0.881          -2.187         45             0              0
  72  Cabinet         -0.727         2.015          -2.460         0              0              0
  73  Drawer          -1.560         0.655          -0.196         0              90             0
  74  Cabinet         -1.685         2.015          -2.461         0              0              0
  75  Cabinet         0.680          0.494          -2.200         0              0              0
  76  Cabinet         -1.179         0.494          -2.200         0              0              0
  77  Cabinet         -1.849         2.015          0.379          0              90             0
  78  Drawer          0.949          0.221          -2.200         0              0              0
  79  StoveKnob       -0.183         0.881          -2.187         45             0              0
  80  Cabinet         0.719          2.015          -2.460         0              0              0
  81  Drawer          -1.560         0.331          -0.196         0              90             0
  82  Cabinet         0.680          2.015          -2.460         0              0              0
  83  CounterTop      -1.868         0.946          -1.205         0              0              0
  84  Microwave       -0.236         1.689          -2.525         0              0              0
  85  Shelf           1.751          0.880          -2.560         0              0              0
  86  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  87  Toaster         -1.835         0.900          0.134          0              90             0
  88  Shelf           1.750          0.552          -2.559         0              0              0
  89  GarbageCan      -1.935         -0.002         2.029          0              270            0
  90  Shelf           1.750          0.172          -2.559         0              0              0
  91  Fridge          -2.096         0.0            1.088          0              0              0
  92  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  93  SinkBasin       -1.908         0.759          -1.488         0              90             0
  94  LightSwitch     2.329          1.309          -0.159         0              270            0
  95  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  96  Stool           0.702          0.000          -0.514         1.202          65.108         0
  97  Stool           0.743          0.000          0.563          1.227          106.706        0
  98  Faucet          -2.070         1.132          -1.514         0              0              0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: walk to face sink | STEP 2: pick up potato from sink | STEP 3: walk to face microwave | STEP 4: cook potato in microwave, remove potato from microwave | STEP 5: turn to face sink | STEP 6: put potato into sink | END