Task: Slicing a potato followed by cooking it in the microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          -0.75          0              90             0
   1  Pan             -1.056         0.956          -0.672         0              180            0              51
   2  Potato          0.141          0.793          -2.118         0              0              0              89
   3  Ladle           -1.045         1.168          0.618          0              0              0              75
   4  Ladle           -0.611         0.731          0.190          0              270            0              73
   5  ButterKnife     -0.634         0.913          0.135          0              0              0              72
   6  ButterKnife     -1.259         0.911          -1.760         0              0              0              79
   7  Spatula         -0.376         0.778          -2.063         0              90             0              89
   8  Fork            -1.080         0.914          -0.231         0              0              0              72
   9  Fork            -0.375         1.132          0.706          0              0              0              75
  10  Egg             1.781          1.461          -0.737         0              270            0              86
  11  Egg             -0.598         1.165          0.441          0              0              0              75
  12  Plate           1.945          1.097          -0.737         0              270            0              86
  13  Plate           -0.658         0.110          -1.832         0              0              0              64
  14  Tomato          1.845          0.112          0.138          0              0              0              82
  15  Tomato          1.836          0.866          -0.551         0              270            0              86
  16  SaltShaker      2.694          0.548          0.245          0              180            0              85
  17  PepperShaker    -0.725         0.688          -1.979         0              0              0              49
  18  PepperShaker    3.002          0.876          0.087          0              180            0              83
  19  Lettuce         1.891          1.175          -0.551         0              270            0              86
  20  Apple           1.963          0.111          0.195          0              0              0              82
  21  Pan             -1.289         0.957          -0.756         0              180            0              54
  22  Knife           1.419          0.934          -1.760         0              0              0              79
  23  Bowl            1.409          1.650          -2.128         0              90             0              52
  24  Fork            -0.053         0.696          0.181          0              180            0              78
  25  Cup             0.101          0.750          -1.938         0              0              0              89
  26  Ladle           -0.319         0.732          0.181          0              270            0              78
  27  Apple           -1.330         0.962          -0.292         0              0              0              72
  28  Kettle          -1.047         0.953          -2.094         0              0              0              79
  29  Vase            -0.205         0.915          0.294          0              0              0              72
  30  Potato          1.813          1.045          -1.402         0              270            0              84
  31  Pot             -1.056         0.956          -1.127         0              0              0              76
  32  Bread           1.945          0.899          -0.737         0              270            0              86
  33  Plate           -0.152         1.129          0.529          0              0              0              75
  34  Spatula         -0.117         0.778          -2.008         0              0              0              89
  35  PaperTowelRoll  -0.375         1.235          0.485          0              0              0              75
  36  Vase            0.008          0.919          0.294          0              0              0              72
  37  Egg             -0.290         0.797          -2.118         0              0              0              89
  38  SoapBottle      1.588          1.653          -2.128         0              90             0              52
  39  SaltShaker      -0.725         0.688          -1.846         0              0              0              49
  40  Lettuce         1.419          0.987          -2.098         0              0              0              79
  41  PepperShaker    -0.985         0.132          -0.204         0              0              0              66
  42  ButterKnife     -1.239         0.911          -1.469         0              0              0              79
  43  DishSponge      -1.272         1.660          -0.353         0              0              0              62
  44  Vase            2.979          0.539          0.128          0              0              0              85
  45  Spoon           -0.634         0.914          0.241          0              90             0              72
  46  Tomato          -0.031         0.812          -2.063         0              0              0              89
  47  Mug             2.055          1.422          -0.365         0              0              0              86
  48  Statue          -1.075         0.918          -1.806         0              90             0              79
  49  Drawer          -0.819         0.75           -1.690         0              0              0
  50  Cabinet         -1.149         2.264          -0.838         0              90             0
  51  StoveBurner     -1.056         0.949          -0.671         0              180            0
  52  Cabinet         1.738          2.019          -2.000         0              0              0
  53  Cabinet         1.389          0.469          -1.059         0              0              0
  54  StoveBurner     -1.289         0.949          -0.755         0              180            0
  55  Faucet          -0.157         1.052          -2.196         0              270            0
  56  Cabinet         1.75           2.019          -1.029         0              0              0
  57  Cabinet         1.75           2.019          -1.399         0              0              0
  58  Cabinet         1.179          2.019          -2.0           0              0              0
  59  Cabinet         0.199          2.019          -2.0           0              0              0
  60  Cabinet         -1.100         2.019          -2.0           0              0              0
  61  Cabinet         -1.149         2.019          -1.979         0              0              0
  62  Cabinet         -1.149         2.019          -0.770         0              0              0
  63  Cabinet         -1.149         2.019          0.380          0              0              0
  64  Cabinet         -0.819         0.469          -1.689         0              0              0
  65  Cabinet         -0.839         0.469          -1.664         0              0              0
  66  Cabinet         -0.839         0.469          -0.049         0              0              0
  67  Cabinet         -0.414         0.370          -0.009         0              0              0
  68  Sink            -0.118         0.875          -2.009         0              0              0
  69  StoveBurner     -1.289         0.949          -1.019         0              0              0
  70  Cabinet         0.119          2.264          -2.0           0              0              0
  71  Cabinet         -0.459         2.264          -2.0           0              0              0
  72  CounterTop      -0.665         0.949          0.188          0              0              0
  73  Drawer          -0.449         0.75           -0.010         0              180            0
  74  Cabinet         -0.450         0.469          -0.009         0              0              0
  75  CounterTop      -0.630         1.167          0.573          0              0              0
  76  StoveBurner     -1.056         0.949          -1.126         0              0              0
  77  Cabinet         1.376          0.460          -1.685         0              0              0
  78  Drawer          -0.070         0.75           -0.009         0              180            0
  79  CounterTop      1.159          0.946          -2.013         0              0              0
  80  Cabinet         -1.150         2.264          -1.418         0              90             0
  81  HousePlant      -1.246         1.108          0.606          0              0              0
  82  GarbageCan      1.923          -0.010         0.137          0              0              0
  83  Shelf           2.759          0.880          0.144          0              0              0
  84  Microwave       1.827          0.900          -1.354         0              270            0
  85  Shelf           2.759          0.552          0.145          0              0              0
  86  Fridge          1.975          0.0            -0.537         0              0              0
  87  LightSwitch     0.404          1.297          2.0            0              180            0
  88  Shelf           2.760          0.172          0.145          0              0              0
  89  SinkBasin       -0.129         0.752          -2.007         0              0              0
  90  StoveKnob       -0.873         0.903          -0.827         45             90             0
  91  StoveKnob       -0.873         0.903          -0.676         45             90             0
  92  StoveKnob       -0.873         0.903          -0.966         45             90             0
  93  StoveKnob       -0.873         0.903          -1.123         45             90             0
  94  Toaster         0.840          0.900          -2.057         0              0              0
  95  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  96  ShelvingUnit    2.760          0.006          0.144          0              0              0
  97  Stool           -0.826         0.010          0.908          0              347.513        0
  98  Stool           -0.132         0.010          0.883          0              71.555         0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn to the right and walk to the counter in front of the toaster | STEP 2: Pick up the knife on the counter | STEP 3: Turn to the left and face the microwave | STEP 4: Open the microwave door and slice the potato inside | STEP 5: Close the microwave door and start it | STEP 6: Open the microwave door and slice the potato inside | STEP 7: Close the microwave door and start it | STEP 8: Open the microwave backup and remove a slice of potato | STEP 9: Turn to the left and walk to the refrigerator | STEP 10: Place the potato slice in the refrigerator to chill, then remove it | STEP 11: Turn back to the right and go to the microwave | STEP 12: Open the microwave and place the potato slice inside | END