Task: put a heated slice of potato inside 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           -0.25          0.930          1.25           0              270            0
   1  Potato          -0.244         0.938          -1.594         0              45             0              82
   2  Potato          -1.008         0.938          -0.047         0              90             0              61
   3  ButterKnife     -0.702         0.900          -0.726         0              45             0              61
   4  ButterKnife     1.098          0.911          0.889          0              0              0              92
   5  Glassbottle     2.987          0.748          0.098          0              90             0              106
   6  Kettle          0.101          0.901          -1.445         0              0              0              82
   7  Pot             -0.935         0.900          0.623          0              0              0              61
   8  Spatula         -0.909         0.915          -0.722         0              135            0              61
   9  Spoon           2.988          0.713          -0.784         0              180            0              48
  10  Spoon           0.239          0.132          -1.515         0              90             0              51
  11  CellPhone       3.354          0.898          -0.279         0              0              0              60
  12  Lettuce         1.098          0.973          0.464          0              0              0              92
  13  SaltShaker      -0.827         0.514          -0.011         0              0              0              88
  14  SaltShaker      0.330          0.316          -1.393         0              0              0              67
  15  Bowl            -0.862         0.897          -0.047         0              0              0              61
  16  SoapBottle      0.713          0.917          0.015          0              36.810         0              92
  17  Tomato          0.833          0.947          0.291          0              36.810         0              92
  18  Tomato          1.242          1.284          -1.559         0              0              0              107
  19  Cup             0.254          1.257          -1.741         0              0              0              77
  20  Cup             1.112          1.672          -1.550         0              0              0              52
  21  Plate           3.140          0.190          0.700          0              0              0              70
  22  Plate           0.622          0.923          0.426          0              0              0              92
  23  Glassbottle     3.069          0.748          -0.034         0              90             0              106
  24  SoapBottle      0.887          0.920          0.527          0              0              0              92
  25  Potato          1.008          0.749          -1.381         0              0              0              107
  26  Fork            1.622          0.908          0.889          0              0              0              92
  27  Ladle           -0.053         0.937          -1.682         0              135            0              82
  28  Pot             -0.420         0.902          -0.920         0              135            0              56
  29  Kettle          -0.237         0.900          -1.099         0              45             0              90
  30  Spatula         -0.991         0.341          0.489          0              90             0              62
  31  Knife           3.044          0.926          -0.599         0              0              0              60
  32  Lettuce         -0.717         0.965          -0.494         0              0              0              61
  33  Cup             3.044          1.462          -1.550         0              0              0              59
  34  SaltShaker      1.064          1.671          -1.410         0              0              0              52
  35  Egg             0.445          0.963          0.827          0              0              0              92
  36  PepperShaker    0.415          0.896          -1.660         0              0              0              39
  37  ButterKnife     0.012          0.900          -1.337         0              45             0              82
  38  Apple           3.070          0.821          0.231          0              90             0              106
  39  Pan             0.341          0.873          -1.649         0              167.065        0              82
  40  Bread           1.534          0.972          0.486          0              289.287        0              92
  41  CellPhone       -0.827         0.515          0.839          0              0              0              58
  42  DishSponge      -0.868         0.326          0.751          0              0              0              62
  43  Tomato          3.200          0.937          -0.798         0              0              0              60
  44  Spoon           -0.868         0.327          1.343          0              0              0              96
  45  Bowl            3.212          1.261          -0.854         0              0              0              74
  46  Mug             -0.789         0.895          0.176          0              0              0              61
  47  Drawer          0.376          0.572          -1.509         0              0              0
  48  Drawer          3.020          0.769          -0.783         0              180            0
  49  Drawer          -0.860         0.577          1.429          0              0              0
  50  StoveBurner     -0.600         0.897          -1.090         0              135            0
  51  Drawer          0.376          0.191          -1.509         0              0              0
  52  Cabinet         1.402          1.874          -1.259         0              0              0
  53  Cabinet         -0.202         1.963          -1.328         0              0              0
  54  Drawer          -0.860         0.765          1.429          0              0              0
  55  Drawer          -0.677         0.765          -0.700         0              0              0
  56  StoveBurner     -0.420         0.897          -0.920         0              135            0
  57  Drawer          3.020          0.769          -0.407         0              180            0
  58  Drawer          -0.860         0.577          0.663          0              0              0
  59  Cabinet         2.819          1.768          -1.850         0              0              0
  60  CounterTop      3.111          0.936          0.019          0              0              0
  61  CounterTop      -1.007         0.935          -0.039         0              0              0
  62  Drawer          -0.860         0.385          0.663          0              0              0
  63  StoveBurner     -0.419         0.897          -1.269         0              315            0
  64  Drawer          -0.047         0.573          -1.324         0              0              0
  65  Drawer          -0.860         0.765          0.663          0              0              0
  66  Drawer          -0.860         0.385          -0.100         0              0              0
  67  Drawer          0.376          0.380          -1.509         0              0              0
  68  Drawer          -0.860         0.765          -0.100         0              0              0
  69  Drawer          0.376          0.765          -1.509         0              0              0
  70  Cabinet         2.849          0.419          0.409          0              0              0
  71  Drawer          -0.047         0.765          -1.324         0              0              0
  72  Cabinet         2.849          0.419          -0.610         0              0              0
  73  Cabinet         2.849          0.419          -0.959         0              0              0
  74  Cabinet         3.069          1.666          -0.709         0              0              0
  75  Cabinet         2.819          1.768          -1.047         0              0              0
  76  Cabinet         0.620          1.874          -1.259         0              0              0
  77  Cabinet         0.140          1.666          -1.559         0              0              0
  78  Cabinet         -0.189         1.666          -1.340         0              0              0
  79  Cabinet         -0.709         1.963          -0.819         0              0              0
  80  Cabinet         -0.920         1.665          -0.620         0              0              0
  81  Drawer          -0.860         0.190          -0.100         0              0              0
  82  CounterTop      0.133          0.935          -1.457         0              0              0
  83  Drawer          3.020          0.769          0.695          0              180            0
  84  Drawer          -0.677         0.577          -0.700         0              0              0
  85  Drawer          -0.860         0.190          1.429          0              0              0
  86  Drawer          -0.047         0.192          -1.324         0              0              0
  87  Drawer          -0.677         0.193          -0.700         0              0              0
  88  Drawer          -0.860         0.577          -0.100         0              0              0
  89  Sink            3.078          0.887          0.086          0              0              0
  90  StoveBurner     -0.239         0.897          -1.089         0              315            0
  91  Drawer          -0.860         0.190          0.663          0              0              0
  92  CounterTop      1.210          0.937          0.463          0              0              0
  93  Drawer          -0.047         0.381          -1.324         0              0              0
  94  Drawer          -0.677         0.387          -0.700         0              0              0
  95  Mirror          -1.295         1.630          0.045          0              0              0
  96  Drawer          -0.860         0.385          1.429          0              0              0
  97  HousePlant      3.196          0.891          -0.368         0              0              0
  98  StoveKnob       -0.090         0.790          -1.009         270            45             0
  99  StoveKnob       -0.280         0.790          -0.819         270            45             0
 100  StoveKnob       -0.180         0.790          -0.920         270            45             0
 101  StoveKnob       -0.370         0.790          -0.720         270            45             0
 102  GarbageCan      3.137          0.025          1.545          0              225            0
 103  Window          3.703          1.675          0.046          90             90             0
 104  CoffeeMachine   3.214          0.890          0.697          0              270            0
 105  LightSwitch     2.592          1.309          -1.880         0              0              0
 106  SinkBasin       3.069          0.736          0.108          0              90             0
 107  Fridge          1.008          0.029          -1.467         0              0              0
 108  Toaster         -1.035         0.873          -0.396         0              90             0
 109  Microwave       -1.034         0.874          1.428          0              90             0
 110  Faucet          3.305          0.886          0.094          270            180            0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: turn to the left go left turn to the left go left towards the counter | STEP 2: pick up the knife from the counter | STEP 3: turn to the left go right turn to the left towards the refrigerator  | STEP 4: slice a potato that is inside the refrigerator  | STEP 5: put the knife inside the refrigerator | STEP 6: pick up a slice of the potato | STEP 7: turn to the right go left turn to the right | STEP 8: put the slice of potato inside the microwave heat it up | STEP 9: turn to the left turn to the left go left turn to the right | STEP 10: put the slice of potato inside the sink | END