Task: Heat up a slice of potato and put it against the apple.

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          0.900          0.5            0              90             0
   1  SprayBottle     -2.039         0.909          -1.534         0              0              0              73
   2  Pen             -1.962         0.913          -1.448         0              0              0              70
   3  Pen             -2.445         0.913          0.118          0              0              0              77
   4  Potato          1.302          0.256          1.051          0              0              0              92
   5  Potato          1.476          1.409          1.725          0              270            0              94
   6  Potato          -0.063         0.824          -1.707         0              270            0              96
   7  Ladle           -2.323         0.954          0.377          0              0              0              77
   8  Kettle          1.454          1.163          -0.659         0              0              0              81
   9  Spoon           1.093          0.912          -0.65          0              0              0              66
  10  Spatula         0.664          0.926          -1.704         0              0              0              75
  11  Spatula         1.015          0.789          -1.013         0              270            0              53
  12  Egg             -0.552         0.940          -1.960         0              0              0              75
  13  Egg             0.217          0.948          -1.758         0              270            0              54
  14  Plate           1.150          0.118          0.489          0              0              0              58
  15  Knife           1.101          0.803          0.485          0              270            0              52
  16  Tomato          1.332          1.857          2.432          0              270            0              94
  17  Bowl            0.808          1.656          -1.839         0              0              0              64
  18  PepperShaker    0.563          1.650          -1.801         0              0              0              64
  19  PepperShaker    1.093          0.906          -0.309         0              0              0              75
  20  SaltShaker      -1.886         0.905          -1.448         0              0              0              73
  21  SaltShaker      1.335          1.157          -1.688         0              0              0              81
  22  Bread           -2.201         0.988          0.463          0              0              0              77
  23  Lettuce         -1.835         0.979          0.291          0              0              0              77
  24  Mug             -0.953         1.845          -1.912         0              0              0              55
  25  Apple           0.927          0.945          -0.990         0              0              0              75
  26  Tomato          1.494          1.202          -1.002         0              0              0              81
  27  Glassbottle     1.459          0.215          1.137          0              0              0              92
  28  Knife           0.285          0.949          -1.657         0              270            0              54
  29  Plate           1.343          0.911          -1.331         0              0              0              75
  30  Fork            -2.201         0.911          0.118          0              0              0              77
  31  Ladle           -1.712         0.954          0.291          0              90             0              77
  32  Potato          -2.116         0.952          -1.448         0              0              0              73
  33  Lettuce         1.376          1.436          2.101          0              270            0              94
  34  Kettle          -1.431         0.949          -1.525         0              0              0              83
  35  Pen             0.852          0.913          -1.704         0              0              0              75
  36  SaltShaker      0.771          0.112          -1.441         0              90             0              69
  37  Cup             0.171          0.115          -1.488         0              90             0              72
  38  Egg             0.149          0.948          -1.556         0              270            0              54
  39  Spatula         -1.886         0.925          -1.620         0              180            0              73
  40  Bowl            1.031          0.115          -0.699         0              0              0              59
  41  SprayBottle     1.381          0.213          1.022          0              0              0              92
  42  Pan             -1.431         0.949          -1.81          0              0              0              85
  43  SoapBottle      -0.309         0.116          -1.683         0              270            0              61
  44  Pot             1.325          1.369          2.351          0              270            0              94
  45  ButterKnife     -1.835         0.910          0.549          0              0              0              77
  46  PepperShaker    -1.732         0.905          -1.448         0              0              0              73
  47  DishSponge      -1.821         0.772          -1.565         0              0              0              80
  48  Bread           1.454          1.240          -1.688         0              0              0              81
  49  Apple           1.454          1.196          -1.345         0              0              0              81
  50  Spoon           0.916          0.774          -1.178         0              90             0              53
  51  Mug             1.070          0.957          -1.641         0              0              0              91
  52  Drawer          0.860          0.75           0.430          0              0              0
  53  Drawer          0.871          0.75           -1.134         0              0              0
  54  Sink            0.156          0.817          -1.801         0              270            0
  55  Cabinet         -0.868         2.005          -1.690         0              0              0
  56  Cabinet         -1.661         2.059          -1.684         0              90             0
  57  Cabinet         -0.817         2.059          -1.689         0              0              0
  58  Cabinet         0.860          0.402          0.665          0              0              0
  59  Cabinet         0.860          0.402          -0.552         0              0              0
  60  Cabinet         0.860          0.402          -1.365         0              0              0
  61  Cabinet         -0.244         0.402          -1.389         0              0              0
  62  Cabinet         -0.815         0.402          -1.389         0              0              0
  63  Cabinet         1.159          2.059          -0.334         0              0              0
  64  Cabinet         0.488          2.059          -1.689         0              0              0
  65  Cabinet         -0.193         2.059          -1.689         0              0              0
  66  Drawer          0.860          0.75           -0.699         0              0              0
  67  Cabinet         1.159          2.059          -1.019         0              0              0
  68  Cabinet         -1.611         2.005          -1.690         0              0              0
  69  Cabinet         0.832          0.401          -1.393         0              90             0
  70  Drawer          -2.105         0.75           -1.389         0              0              0
  71  StoveBurner     -1.081         0.941          -1.809         0              0              0
  72  Cabinet         -0.202         0.401          -1.391         0              90             0
  73  CounterTop      -1.973         0.945          -1.707         0              0              0
  74  Drawer          -0.375         0.75           -1.389         0              0              0
  75  CounterTop      1.164          0.946          -0.649         0              0              0
  76  StoveBurner     -1.081         0.941          -1.527         0              0              0
  77  CounterTop      -2.096         0.945          0.291          0              0              0
  78  Cabinet         -2.237         0.402          -1.389         0              0              0
  79  Drawer          0.584          0.75           -1.389         0              0              0
  80  Drawer          -1.795         0.75           -1.389         0              0              0
  81  CounterTop      1.5            1.197          -0.654         0              0              0
  82  Cabinet         -1.667         0.402          -1.389         0              0              0
  83  StoveBurner     -1.430         0.941          -1.525         0              0              0
  84  Drawer          -0.685         0.75           -1.389         0              0              0
  85  StoveBurner     -1.430         0.941          -1.809         0              0              0
  86  LightSwitch     -2.539         1.289          2.568          0              90             0
  87  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  88  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  89  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  90  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  91  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  92  GarbageCan      1.343          0.015          1.041          0              0              0
  93  HousePlant      1.440          1.153          0.593          0              0              0
  94  Fridge          1.417          0.0            2.101          0              0              0
  95  Window          -0.486         1.452          3.302          90             0              0
  96  SinkBasin       -0.063         0.765          -1.713         0              270            0
  97  Microwave       1.422          1.150          0.022          0              270            0
  98  Toaster         -2.066         0.900          -1.848         0              0              0
  99  Stool           -1.994         0.010          0.882          0              0              0
 100  Faucet          -0.096         1.041          -1.867         0              270            0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Go forward to the counter and turn right to go to the sink. | STEP 2: Pick up the knife laying vertically on the side of the sink. | STEP 3: Turn right, step forward and then turn left to be center with the sink. | STEP 4: Slice the potato in the center of the sink. | STEP 5: Turn left, step forward and look up on the shelf. | STEP 6: Put the knife upright in the tomato next to the kettle. | STEP 7: Return to the kitchen sink. | STEP 8: Pick up a slice of potato. | STEP 9: Turn around, step forward then turn right to go to the microwave. | STEP 10: Open the microwave, place the potato slice inside close the door and turn on.  Wait till microwave is off and remove the potato. | STEP 11: Turn right and go to the edge of the counter, then turn left to face the tomato. | STEP 12: Lean the potato against the green apple to the right of the tomato. | END