Task: To cut a potato, heat a slice, as well as place it in the sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.900          -0.25          0              180            0
   1  Glassbottle     -2.666         0.924          -1.423         0              0              0              78
   2  Glassbottle     -0.267         1.531          -3.665         0              45             0              61
   3  Pen             -2.210         0.926          -1.423         0              0              0              78
   4  Potato          -2.096         0.954          -1.884         0              0              0              78
   5  WineBottle      -2.780         0.924          -2.115         0              0              0              78
   6  Pot             -1.515         0.935          -3.497         0              0              0              50
   7  Spatula         -2.666         0.938          -2.345         0              0              0              78
   8  Fork            -0.398         0.797          -1.934         0              180            0              71
   9  Spoon           -2.210         0.924          -1.423         0              0              0              78
  10  Spoon           -2.552         0.924          -1.884         0              0              0              78
  11  Knife           -2.324         0.946          -0.963         0              0              0              78
  12  Cup             -0.422         0.080          -2.201         0              0              0              58
  13  Egg             -1.204         1.663          -3.837         0              0              0              66
  14  SoapBottle      -0.421         0.079          -3.236         0              0              0              59
  15  Tomato          -0.295         1.454          -0.979         0              270            0              70
  16  Bowl            -0.392         1.389          -0.769         0              270            0              70
  17  Bowl            -0.747         0.081          -3.584         0              0              0              59
  18  Lettuce         -0.295         1.191          -0.560         0              270            0              70
  19  Bread           -0.308         1.743          -0.560         0              270            0              70
  20  Bread           -0.308         1.743          -0.874         0              270            0              70
  21  Mug             -0.392         1.093          -0.769         0              270            0              70
  22  Apple           -0.457         0.989          -3.909         0              0              0              53
  23  Apple           -0.343         1.172          -0.979         0              270            0              70
  24  Lettuce         -2.324         1.016          -1.423         0              0              0              78
  25  Glassbottle     -0.162         1.528          -2.598         0              0              0              65
  26  Egg             -2.552         0.956          -1.423         0              0              0              78
  27  Pen             -0.365         0.918          -2.764         0              0              0              53
  28  Fork            -2.324         0.924          -1.193         0              0              0              78
  29  SoapBottle      -1.912         0.025          -3.799         0              0              0              69
  30  Pencil          -0.778         0.746          -3.556         0              0              0              52
  31  WineBottle      -0.671         0.916          -3.909         0              0              0              53
  32  Spatula         -2.324         0.938          -1.884         0              0              0              78
  33  Bread           -0.414         0.952          -3.625         0              0              0              53
  34  Tomato          -0.302         0.861          -2.008         0              270            0              71
  35  Pan             -2.174         0.913          -1.099         0              0              0              78
  36  Cup             -2.780         0.922          -1.193         0              0              0              78
  37  Pot             -1.129         0.935          -3.498         0              0              0              51
  38  SaltShaker      -0.306         0.077          -2.201         0              0              0              58
  39  Potato          -2.324         0.954          -2.115         0              0              0              78
  40  PepperShaker    -2.096         0.919          -1.654         0              0              0              78
  41  ButterKnife     -0.371         0.903          -3.443         0              0              0              53
  42  DishSponge      -0.302         0.796          -2.155         0              270            0              71
  43  Spoon           -2.096         0.924          -2.115         0              0              0              78
  44  Plate           -0.460         0.083          -1.804         0              0              0              48
  45  Knife           -2.666         0.946          -1.193         0              0              0              78
  46  Mug             -2.552         0.918          -2.115         0              0              0              78
  47  Bowl            -0.671         0.914          -3.626         0              0              0              53
  48  Cabinet         -0.582         0.388          -1.804         0              0              0
  49  StoveBurner     -1.515         0.928          -3.752         0              90             0
  50  StoveBurner     -1.515         0.928          -3.497         0              0              0
  51  StoveBurner     -1.129         0.928          -3.498         0              0              0
  52  Drawer          -0.749         0.779          -3.551         0              0              0
  53  CounterTop      -0.303         0.951          -2.793         0              0              0
  54  Cabinet         -0.883         2.140          -3.687         0              0              0
  55  Cabinet         -0.312         2.140          -1.543         0              0              0
  56  Sink            -0.349         0.907          -2.014         0              0              0
  57  Cabinet         -0.877         0.388          -3.422         0              0              0
  58  Cabinet         -0.582         0.388          -2.197         0              0              0
  59  Cabinet         -0.584         0.388          -3.396         0              0              0
  60  Cabinet         -0.312         2.140          -2.481         0              0              0
  61  Cabinet         -0.330         1.921          -3.390         0              0              0
  62  Cabinet         -1.764         2.140          -3.687         0              0              0
  63  StoveBurner     -1.129         0.928          -3.752         0              90             0
  64  Drawer          -0.454         0.779          -3.268         0              0              0
  65  Cabinet         -0.302         1.916          -2.501         0              0              0
  66  Microwave       -1.317         1.517          -3.801         0              1.440          0
  67  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  68  LightSwitch     -4.323         1.319          0.0            0              180            0
  69  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  70  Fridge          -0.330         0.0            -0.769         0              270            0
  71  SinkBasin       -0.350         0.786          -2.018         0              270            0
  72  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  73  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  76  Toaster         -0.181         0.903          -2.764         0              270            0
  77  Window          -2.503         1.782          -4.185         90             180            0
  78  DiningTable     -2.432         0.000          -1.694         0              270            0
  79  Shelf           -2.432         0.150          -1.694         0              270            0
  80  Blinds          -2.536         2.699          -3.959         0              0              0
  81  Faucet          -0.079         0.904          -2.034         270            180            0
  82  Chair           -3.264         0.002          -2.094         0              53.280         0
  83  Chair           -3.240         0.002          -1.253         0              117.257        0
  84  Shelf           -2.432         0.523          -1.694         0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Walk around the left side of the table to the other side of the room and turn left to face the counter. | STEP 2: Pick up the knife laying on the counter. | STEP 3: Turn around and approach the kitchen table. | STEP 4: Cut the potato on the counter into slices. | STEP 5: Turn around and approach the sink. | STEP 6: Place the knife on the left side of the sink. | STEP 7: Turn around and walk forward to the kitchen table. | STEP 8: Pick up a slice of potato. | STEP 9: Turn to the left and walk forward to face the stove. | STEP 10: Heat the potato in the microwave above the stove and remove it. | STEP 11: Turn around, walk halfway across the room and turn to the right to face the sink. | STEP 12: Place the potato slice in the sink. | END