Task: pick up knife, cut potato, place knife in sink, cook potato in microwave, 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           -2.75          0.899          6.25           0              0              0
   1  Pencil          -3.827         0.747          1.926          0              0              0              56
   2  Pencil          -0.565         0.925          4.615          0              0              0              64
   3  Potato          -4.172         0.956          2.183          0              0              0              79
   4  Potato          -1.610         0.956          1.875          0              0              0              61
   5  DishSponge      -3.135         0.923          5.182          0              90             0              79
   6  WineBottle      -4.411         0.924          4.640          0              90             0              79
   7  WineBottle      -0.334         0.926          4.944          0              0              0              64
   8  Pot             -2.469         0.930          1.712          0              270            0              94
   9  Spoon           -3.374         0.924          5.336          0              180            0              79
  10  Spoon           -3.613         0.924          5.412          0              90             0              79
  11  Cup             -0.342         1.579          3.289          0              270            0              112
  12  Cup             -2.530         1.545          1.666          0              0              0              109
  13  Egg             -0.334         0.960          4.615          0              0              0              64
  14  Plate           -0.342         1.336          3.850          0              270            0              112
  15  Plate           -0.258         0.925          5.273          0              0              0              64
  16  Knife           -2.109         0.953          1.875          0              90             0              61
  17  SoapBottle      -4.381         0.923          2.649          0              0              0              79
  18  SoapBottle      -1.943         0.923          1.8            0              0              0              61
  19  Tomato          -0.242         1.127          3.355          0              270            0              112
  20  Tomato          -2.109         0.980          1.648          0              0              0              61
  21  Bowl            -3.677         1.450          1.638          0              0              0              53
  22  SaltShaker      -3.768         0.742          1.985          0              0              0              56
  23  PepperShaker    -0.503         0.743          6.152          0              270            0              90
  24  Lettuce         -3.675         0.164          6.375          0              0              0              105
  25  Lettuce         -0.301         1.431          3.602          0              270            0              112
  26  Bread           -0.181         1.004          4.944          0              0              0              64
  27  Mug             -3.852         0.918          5.106          0              180            0              79
  28  Apple           -2.026         0.976          2.026          0              0              0              61
  29  Egg             -3.374         0.959          5.412          0              90             0              79
  30  Apple           -4.196         0.844          3.159          0              270            0              111
  31  Knife           -1.777         0.953          1.648          0              90             0              61
  32  Potato          -0.334         0.958          5.932          0              0              0              64
  33  Fork            -1.860         0.924          1.951          0              90             0              61
  34  Bowl            -3.307         0.079          1.966          0              0              0              54
  35  Plate           -4.089         0.078          4.813          0              0              0              72
  36  Lettuce         -0.454         1.165          3.726          0              270            0              112
  37  Bread           -1.693         1.003          1.648          0              0              0              61
  38  Tomato          -0.488         0.982          5.273          0              0              0              64
  39  WineBottle      -0.565         0.926          4.944          0              0              0              64
  40  Spatula         -3.733         0.938          5.566          0              180            0              79
  41  PaperTowelRoll  -1.693         1.027          1.951          0              0              0              61
  42  Cup             -4.097         0.079          3.419          0              0              0              84
  43  Pencil          -3.494         0.923          5.489          0              90             0              79
  44  Pan             -0.334         0.924          5.603          0              0              0              64
  45  Pot             -2.924         0.930          1.712          0              180            0              76
  46  SaltShaker      -0.222         2.130          5.169          0              180            0              68
  47  SoapBottle      -3.807         0.079          5.155          0              90             0              93
  48  PepperShaker    -3.194         0.743          5.133          0              180            0              91
  49  ButterKnife     -0.181         0.925          5.932          0              0              0              64
  50  DishSponge      -0.244         2.135          6.469          0              180            0              63
  51  Spoon           -0.503         0.747          5.919          0              270            0              90
  52  Mug             -4.159         0.785          3.410          0              270            0              111
  53  Cabinet         -3.203         1.931          1.777          0              0              0
  54  Cabinet         -3.187         0.390          2.089          0              0              0
  55  Cabinet         -0.637         0.387          6.882          0              180            0
  56  Drawer          -3.797         0.781          1.961          0              0              0
  57  Cabinet         -3.036         0.387          5.029          0              90             0
  58  Drawer          -0.509         0.775          5.268          0              270            0
  59  Drawer          -4.125         0.798          2.499          0              0              0
  60  Cabinet         -0.331         2.249          4.308          0              180            0
  61  CounterTop      -1.872         0.958          1.799          0              0              0
  62  StoveBurner     -2.924         0.924          2.012          0              0              0
  63  Cabinet         -0.331         2.249          6.806          0              180            0
  64  CounterTop      -0.345         0.960          5.603          0              0              0
  65  Cabinet         -3.039         1.935          5.321          0              90             0
  66  Cabinet         -3.922         0.397          2.088          0              0              0
  67  StoveBurner     -2.467         0.924          2.012          0              0              0
  68  Cabinet         -0.331         2.249          5.505          0              180            0
  69  Drawer          -0.509         0.775          4.617          0              270            0
  70  Drawer          -3.509         0.777          5.157          0              180            0
  71  Cabinet         -3.961         0.388          2.878          0              0              0
  72  Cabinet         -3.961         0.388          4.342          0              0              0
  73  Cabinet         -0.637         0.387          5.582          0              180            0
  74  Cabinet         -0.637         0.388          4.299          0              180            0
  75  Cabinet         -0.637         0.388          5.599          0              180            0
  76  StoveBurner     -2.924         0.924          1.712          0              180            0
  77  Drawer          -1.859         0.775          1.961          0              0              0
  78  Cabinet         -0.331         2.249          5.609          0              180            0
  79  CounterTop      -4.260         0.958          4.943          0              90             0
  80  Cabinet         -4.284         1.931          2.226          0              0              0
  81  Cabinet         -0.331         2.249          3.010          0              180            0
  82  Drawer          -3.801         0.777          5.157          0              180            0
  83  Cabinet         -4.112         1.935          5.321          0              90             0
  84  Cabinet         -3.968         0.388          3.662          0              0              0
  85  Drawer          -3.418         0.777          1.961          0              0              0
  86  Drawer          -4.090         0.777          4.661          0              90             0
  87  Faucet          -4.441         0.909          3.288          270            0              0
  88  Cabinet         -0.331         2.249          4.207          0              180            0
  89  Cabinet         -3.961         0.388          2.119          0              0              0
  90  Drawer          -0.509         0.775          5.920          0              270            0
  91  Drawer          -3.193         0.777          5.157          0              180            0
  92  Cabinet         -3.968         0.388          2.894          0              0              0
  93  Cabinet         -3.667         0.387          5.029          0              90             0
  94  StoveBurner     -2.469         0.924          1.712          0              270            0
  95  Cabinet         -1.539         0.388          2.090          0              0              0
  96  Sink            -4.190         0.921          3.279          0              0              0
  97  Cabinet         -3.641         0.387          5.029          0              90             0
  98  Cabinet         -1.583         1.931          1.777          0              0              0
  99  Drawer          -0.509         0.775          6.568          0              270            0
 100  CoffeeMachine   -0.279         0.912          6.556          0              270            0
 101  StoveKnob       -2.347         1.095          1.560          288.012        180            180
 102  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 103  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 104  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 105  GarbageCan      -3.711         -0.030         6.376          0              270            0
 106  Toaster         -3.578         0.912          1.763          0              0              0
 107  Curtains        -4.522         2.252          3.391          90             90             0
 108  Window          -4.868         1.629          3.309          90             270            0
 109  Microwave       -2.693         1.430          1.689          0              0              0
 110  LightSwitch     -1.588         1.169          1.506          0              0              0
 111  SinkBasin       -4.196         0.780          3.276          0              270            0
 112  Fridge          -0.324         -0.001         3.602          0              0              0
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: turn to the right, turn left to the counter | STEP 2: pick up knife from the counter | STEP 3: turn right, turn straight, turn right, turn left, right to the counter | STEP 4: cut potato on the counter | STEP 5: turn right, turn left to the sink | STEP 6: put knife in the sink | STEP 7: turn around, turn right, turn right to the counter | STEP 8: pick up slice of potato from counter | STEP 9: turn around, turn right to the microwave | STEP 10: open door, place potato on shelf, close door, cook, open door, remove potato, close door | STEP 11: turn around, walk straight, turn left to the sink  | STEP 12: place potato in the sink | END