Task: cook a clean potato in microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.930          -0.5           0              270            0
   1  Potato          -1.085         1.036          1.470          0              90             0              110
   2  Potato          0.851          0.924          -1.475         0              0              0              108
   3  Ladle           -0.789         0.937          -0.270         0              90             0              62
   4  Ladle           -0.991         0.167          -0.098         0              90             0              82
   5  ButterKnife     -0.868         0.518          1.255          0              0              0              50
   6  ButterKnife     0.602          0.908          0.098          0              36.810         0              93
   7  Glassbottle     3.141          0.176          -0.870         0              0              0              74
   8  Kettle          3.198          0.176          -0.404         0              0              0              73
   9  Spatula         3.070          0.762          0.231          0              270            0              107
  10  Spoon           3.373          0.901          0.232          0              90             0              61
  11  Fork            3.373          0.901          -0.151         0              90             0              61
  12  Fork            -0.991         0.707          0.839          0              90             0              66
  13  CellPhone       -0.950         0.128          0.839          0              0              0              92
  14  CellPhone       0.967          0.905          0.889          0              0              0              93
  15  Mug             3.049          0.966          0.591          0              270            0              105
  16  Mug             -1.052         0.992          1.311          0              90             0              110
  17  Bread           0.550          0.986          0.259          0              36.810         0              93
  18  Bread           3.044          0.979          -0.599         0              0              0              61
  19  PepperShaker    -0.702         0.896          -0.726         0              45             0              62
  20  SoapBottle      -0.234         0.909          -1.398         0              45             0              83
  21  Egg             1.164          0.938          -1.503         0              0              0              108
  22  Knife           -0.960         0.925          -0.774         0              135            0              62
  23  Plate           3.173          1.477          -1.235         0              0              0              76
  24  Glassbottle     3.111          0.748          -0.100         0              90             0              107
  25  SoapBottle      0.836          0.917          0.410          0              36.810         0              93
  26  Potato          1.008          0.749          -1.459         0              0              0              108
  27  Fork            0.622          0.908          0.527          0              90             0              93
  28  Ladle           1.112          1.711          -1.689         0              90             0              53
  29  Pot             -0.420         0.902          -0.920         0              135            0              57
  30  Kettle          -0.419         0.902          -1.269         0              315            0              64
  31  Spatula         -0.935         0.915          0.176          0              0              0              62
  32  Knife           -0.885         0.925          -0.643         0              135            0              62
  33  Lettuce         0.049          0.965          -1.579         0              45             0              83
  34  Cup             1.164          1.245          -1.475         0              0              0              108
  35  SaltShaker      0.239          0.701          -1.515         0              0              0              70
  36  Egg             3.181          0.153          1.6            0              225            0              103
  37  PepperShaker    -0.165         1.259          -1.569         0              45             0              79
  38  ButterKnife     0.967          0.911          0.605          0              0              0              93
  39  Apple           -1.080         0.974          -0.047         0              0              0              62
  40  Pan             0.341          0.873          -1.649         0              167.065        0              83
  41  Bread           1.534          0.972          0.486          0              289.287        0              93
  42  CellPhone       -0.038         0.897          -1.388         0              45             0              83
  43  DishSponge      3.141          0.175          -0.702         0              0              0              74
  44  Tomato          1.164          0.750          -1.354         0              0              0              108
  45  Spoon           -0.868         0.132          0.576          0              0              0              92
  46  Bowl            0.533          0.905          0.827          0              0              0              93
  47  Mug             3.113          1.459          -1.599         0              0              0              60
  48  Drawer          0.376          0.572          -1.509         0              0              0
  49  Drawer          3.020          0.769          -0.783         0              180            0
  50  Drawer          -0.860         0.577          1.429          0              0              0
  51  StoveBurner     -0.600         0.897          -1.090         0              135            0
  52  Drawer          0.376          0.191          -1.509         0              0              0
  53  Cabinet         1.402          1.874          -1.259         0              0              0
  54  Cabinet         -0.202         1.963          -1.328         0              0              0
  55  Drawer          -0.860         0.765          1.429          0              0              0
  56  Drawer          -0.677         0.765          -0.700         0              0              0
  57  StoveBurner     -0.420         0.897          -0.920         0              135            0
  58  Drawer          3.020          0.769          -0.407         0              180            0
  59  Drawer          -0.860         0.577          0.663          0              0              0
  60  Cabinet         2.819          1.768          -1.850         0              0              0
  61  CounterTop      3.111          0.936          0.019          0              0              0
  62  CounterTop      -1.007         0.935          -0.039         0              0              0
  63  Drawer          -0.860         0.385          0.663          0              0              0
  64  StoveBurner     -0.419         0.897          -1.269         0              315            0
  65  Drawer          -0.047         0.573          -1.324         0              0              0
  66  Drawer          -0.860         0.765          0.663          0              0              0
  67  Drawer          -0.860         0.385          -0.100         0              0              0
  68  Drawer          0.376          0.380          -1.509         0              0              0
  69  Drawer          -0.860         0.765          -0.100         0              0              0
  70  Drawer          0.376          0.765          -1.509         0              0              0
  71  Cabinet         2.849          0.419          0.409          0              0              0
  72  Drawer          -0.047         0.765          -1.324         0              0              0
  73  Cabinet         2.849          0.419          -0.610         0              0              0
  74  Cabinet         2.849          0.419          -0.959         0              0              0
  75  Cabinet         3.069          1.666          -0.709         0              0              0
  76  Cabinet         2.819          1.768          -1.047         0              0              0
  77  Cabinet         0.620          1.874          -1.259         0              0              0
  78  Cabinet         0.140          1.666          -1.559         0              0              0
  79  Cabinet         -0.189         1.666          -1.340         0              0              0
  80  Cabinet         -0.709         1.963          -0.819         0              0              0
  81  Cabinet         -0.920         1.665          -0.620         0              0              0
  82  Drawer          -0.860         0.190          -0.100         0              0              0
  83  CounterTop      0.133          0.935          -1.457         0              0              0
  84  Drawer          3.020          0.769          0.695          0              180            0
  85  Drawer          -0.677         0.577          -0.700         0              0              0
  86  Drawer          -0.860         0.190          1.429          0              0              0
  87  Drawer          -0.047         0.192          -1.324         0              0              0
  88  Drawer          -0.677         0.193          -0.700         0              0              0
  89  Drawer          -0.860         0.577          -0.100         0              0              0
  90  Sink            3.078          0.887          0.086          0              0              0
  91  StoveBurner     -0.239         0.897          -1.089         0              315            0
  92  Drawer          -0.860         0.190          0.663          0              0              0
  93  CounterTop      1.210          0.937          0.463          0              0              0
  94  Drawer          -0.047         0.381          -1.324         0              0              0
  95  Drawer          -0.677         0.387          -0.700         0              0              0
  96  Mirror          -1.295         1.630          0.045          0              0              0
  97  Drawer          -0.860         0.385          1.429          0              0              0
  98  HousePlant      3.196          0.891          -0.368         0              0              0
  99  StoveKnob       -0.090         0.790          -1.009         270            45             0
 100  StoveKnob       -0.280         0.790          -0.819         270            45             0
 101  StoveKnob       -0.180         0.790          -0.920         270            45             0
 102  StoveKnob       -0.370         0.790          -0.720         270            45             0
 103  GarbageCan      3.137          0.025          1.545          0              225            0
 104  Window          3.703          1.675          0.046          90             90             0
 105  CoffeeMachine   3.214          0.890          0.697          0              270            0
 106  LightSwitch     2.592          1.309          -1.880         0              0              0
 107  SinkBasin       3.069          0.736          0.108          0              90             0
 108  Fridge          1.008          0.029          -1.467         0              0              0
 109  Toaster         -1.035         0.873          -0.396         0              90             0
 110  Microwave       -1.034         0.874          1.428          0              90             0
 111  Faucet          3.305          0.886          0.094          270            180            0
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: turn around, walk forward, turn left after island, walk to wall, turn right, walk to blue bin | STEP 2: take potato out of the bin | STEP 3: turn around, take a step, turn left, walk forward, turn left to face sink | STEP 4: put potato in the sink, fill sink with water, remove potato | STEP 5: turn around, walk forward, turn right after island, walk to wall, turn left to face microwave | STEP 6: open microwave, put potato in, close it | END