Task: slice potato, put knife in lower cabinet next to stove, place microwaved potato slice on white table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.901          1.5            0              0              0
   1  Potato          -0.425         0.831          1.217          0              0              0              71
   2  DishSponge      -0.033         0.746          2.061          0              0              0              43
   3  Knife           1.802          0.772          0.514          0              90             0              53
   4  Knife           -0.119         0.816          1.386          0              0              0              71
   5  SoapBottle      -0.042         0.791          1.217          0              0              0              71
   6  SoapBottle      -0.119         0.791          0.545          0              0              0              71
   7  Tomato          1.840          0.984          0.435          0              0              0              55
   8  Bowl            2.227          0.934          1.866          0              0              0              44
   9  SaltShaker      1.855          1.498          2.919          0              180            0              45
  10  SaltShaker      0.033          0.785          0.545          0              0              0              71
  11  Lettuce         2.122          0.664          -0.278         0              270            0              65
  12  Apple           0.033          0.840          1.049          0              0              0              71
  13  Egg             2.301          0.980          0.806          0              0              0              55
  14  Lettuce         0.277          0.989          2.611          0              60.216         0              44
  15  Fork            -0.349         0.782          0.881          0              0              0              71
  16  SoapBottle      1.298          0.082          2.562          0              0              0              50
  17  Ladle           1.906          0.791          0.446          0              90             0              53
  18  Ladle           1.954          0.790          1.922          0              90             0              59
  19  Bread           -0.198         0.829          0.816          358.810        0              358.454        71
  20  SaltShaker      0.033          0.785          0.713          0              0              0              71
  21  Potato          2.179          1.559          -0.007         0              270            0              65
  22  Pan             1.928          0.070          0.640          0              0              0              41
  23  WineBottle      1.849          0.083          1.915          0              0              0              40
  24  Spatula         1.012          0.810          2.584          0              90             0              68
  25  Knife           -0.042         0.816          0.545          0              90             0              71
  26  Tomato          -0.119         0.837          1.049          0              0              0              71
  27  Apple           0.576          0.845          2.750          0              0              0              68
  28  ButterKnife     0.524          0.795          2.64           0              90             0              68
  29  Pot             1.866          0.935          1.504          0              180            0              48
  30  PepperShaker    -0.119         0.785          0.377          0              0              0              71
  31  Cup             2.168          1.321          -0.188         0              270            0              65
  32  DishSponge      -0.041         0.937          2.425          0              0              0              44
  33  Plate           -0.312         0.781          0.409          0              0              0              71
  34  Spoon           1.815          0.747          2.129          0              90             0              59
  35  Mug             2.000          1.318          -0.279         0              270            0              65
  36  Bowl            2.168          1.318          -0.460         0              270            0              65
  37  Cabinet         2.041          2.113          2.618          0              0              0
  38  Cabinet         0.126          0.388          1.774          0              0              0
  39  StoveBurner     2.140          0.929          1.504          0              180            0
  40  Cabinet         1.760          0.388          2.346          0              0              0
  41  Cabinet         1.760          0.388          0.869          0              0              0
  42  Cabinet         2.041          1.810          0.283          0              0              0
  43  Drawer          -0.024         0.774          2.061          0              0              0
  44  CounterTop      1.065          0.973          2.666          0              0              0
  45  Cabinet         1.969          2.113          2.618          0              0              0
  46  StoveBurner     2.140          0.929          1.106          0              0              0
  47  Cabinet         2.041          2.113          1.809          0              0              0
  48  StoveBurner     1.866          0.929          1.504          0              180            0
  49  Cabinet         2.041          2.113          1.766          0              0              0
  50  Cabinet         1.514          0.388          2.360          0              0              0
  51  Cabinet         0.351          0.388          2.360          0              0              0
  52  Cabinet         2.041          1.810          0.872          0              0              0
  53  Drawer          2.167          0.774          0.582          0              0              0
  54  Cabinet         2.041          2.113          0.892          0              0              0
  55  CounterTop      2.060          0.973          0.583          0              0              0
  56  Sink            0.935          0.936          2.646          0              0              0
  57  Curtains        0.964          2.061          2.989          0              0              0
  58  StoveBurner     1.863          0.929          1.106          0              0              0
  59  Drawer          1.911          0.774          2.060          0              0              0
  60  StoveKnob       2.326          1.092          1.610          288.013        90             0
  61  StoveKnob       2.326          1.092          1.460          288.013        90             0
  62  StoveKnob       2.326          1.092          1.210          288.013        90             0
  63  StoveKnob       2.326          1.092          1.050          288.013        90             0
  64  Toaster         2.126          0.926          0.572          0              270            0
  65  Fridge          2.104          0.0            -0.279         0              270            0
  66  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  67  LightSwitch     0.354          1.518          -1.031         0              0              0
  68  SinkBasin       0.903          0.784          2.640          0              0              0
  69  Microwave       -0.310         0.926          2.077          0              90             0
  70  CoffeeMachine   2.084          0.927          2.667          0              225            0
  71  DiningTable     -0.153         -0.000         1.073          0              270            0
  72  Faucet          1.175          0.926          2.950          270            90             0
  73  Faucet          0.686          0.926          2.950          270            90             0
  74  Chair           -0.077         0.002          0.196          0              15.000         0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: go to left side of sink | STEP 2: pick up knife in front of apple in sink | STEP 3: turn around, go to white table to the right | STEP 4: slice potato in right back corner of white table | STEP 5: turn around, go to lower cabinet to the left of stove | STEP 6: open lower cabinet, place knife to the right of bottle in cabinet, close cabinet | STEP 7: turn around, go to white table with sliced potato | STEP 8: pick up potato slice | STEP 9: go to microwave to the right | STEP 10: open microwave, place potato slice on white plate in microwave, close microwave, microwave potato slice, open microwave, pick up potato slice from microwave, close microwave | STEP 11: go to white table to the left | STEP 12: place potato slice on white table in between shaker and apple | END