Task: Heat a potato slice 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           1.25           0.900          5.5            0              180            0
   1  Pan             1.582          0.990          3.324          0              90             0              57
   2  Potato          2.051          1.550          5.876          0              270            0              79
   3  DishSponge      1.228          0.141          4.802          0              0              0              59
   4  ButterKnife     -0.028         0.760          6.786          0              315            0              93
   5  Kettle          1.559          0.988          4.294          0              0              0              55
   6  Spoon           -0.442         0.761          6.107          0              225            0              93
   7  Spatula         -0.401         0.775          6.456          0              45             0              93
   8  Fork            0.124          0.772          0.507          0              0              0              54
   9  Fork            1.404          0.772          3.154          0              0              0              50
  10  Egg             0.125          0.810          6.851          0              225            0              93
  11  Egg             -0.312         0.810          6.291          0              270            0              93
  12  Plate           1.490          0.141          3.291          0              0              0              68
  13  Plate           0.958          1.580          0.251          0              0              0              64
  14  Tomato          -0.308         1.042          0.486          0              0              0              57
  15  Tomato          -0.096         0.809          6.632          0              0              0              93
  16  SoapBottle      1.400          0.141          4.686          0              0              0              59
  17  SoapBottle      1.135          0.992          4.670          0              0              0              58
  18  PepperShaker    -0.029         0.755          6.172          0              135            0              93
  19  PepperShaker    -0.384         0.987          0.578          0              0              0              57
  20  Apple           0.064          1.171          0.180          0              0              0              73
  21  Apple           -0.378         0.834          6.698          0              135            0              93
  22  Bowl            0.440          1.578          0.207          0              0              0              71
  23  Bread           1.099          1.048          0.434          0              0              0              57
  24  Egg             2.094          1.565          5.501          0              270            0              79
  25  Knife           0.260          0.801          0.563          0              270            0              54
  26  Fork            -0.159         0.760          6.787          0              0              0              93
  27  Apple           2.137          1.590          5.626          0              270            0              79
  28  Kettle          1.317          0.988          4.294          0              0              0              52
  29  Plate           0.305          0.760          6.416          0              270            0              93
  30  SaltShaker      -0.535         0.987          0.670          0              0              0              57
  31  Lettuce         1.449          0.932          2.050          0              0              0              80
  32  SoapBottle      -0.034         0.760          6.014          0              90             0              93
  33  Spatula         0.150          0.775          6.604          0              180            0              93
  34  PaperTowelRoll  1.907          0.185          6.469          0              0              0              81
  35  Pot             0.734          0.981          0.38           0              0              0              57
  36  Potato          0.167          0.794          6.151          0              135            0              93
  37  ButterKnife     -0.159         0.760          6.169          0              0              0              93
  38  PepperShaker    0.028          0.755          6.632          0              0              0              93
  39  Pan             1.32           0.988          3.848          0              0              0              56
  40  Tomato          -0.399         0.809          6.895          0              135            0              93
  41  DishSponge      -0.074         1.579          0.295          0              0              0              70
  42  Cup             2.137          1.511          5.376          0              270            0              79
  43  Spoon           0.620          0.993          0.120          0              0              0              57
  44  Mug             -0.275         0.139          0.429          0              0              0              65
  45  Cabinet         1.307          2.455          4.360          0              0              0
  46  Cabinet         1.054          0.422          1.710          0              0              0
  47  Drawer          1.280          0.808          4.718          0              0              0
  48  Cabinet         1.307          2.455          3.607          0              0              0
  49  Drawer          0.736          0.802          0.521          0              0              0
  50  Drawer          1.276          0.802          3.291          0              0              0
  51  StoveBurner     1.562          0.982          3.848          0              0              0
  52  StoveBurner     1.317          0.982          4.294          0              0              0
  53  Drawer          -0.482         0.802          0.521          0              0              0
  54  Drawer          0.124          0.802          0.521          0              0              0
  55  StoveBurner     1.559          0.982          4.294          0              0              0
  56  StoveBurner     1.320          0.982          3.848          0              0              0
  57  CounterTop      1.391          1.028          0.897          0              0              0
  58  CounterTop      1.391          1.028          4.716          0              0              0
  59  Cabinet         1.054          0.422          4.548          0              0              0
  60  Cabinet         1.317          2.134          0.517          0              0              0
  61  Cabinet         1.317          2.134          4.889          0              0              0
  62  Cabinet         1.317          2.134          3.095          0              0              0
  63  Cabinet         0.443          0.422          0.743          0              0              0
  64  Cabinet         1.270          2.134          0.434          0              0              0
  65  Cabinet         -0.775         0.422          0.743          0              0              0
  66  Cabinet         -0.168         0.422          0.743          0              0              0
  67  Cabinet         1.317          2.134          1.534          0              0              0
  68  Cabinet         1.054          0.422          2.990          0              0              0
  69  Cabinet         1.054          0.422          2.944          0              0              0
  70  Cabinet         -0.263         2.134          0.434          0              0              0
  71  Cabinet         0.252          2.134          0.434          0              0              0
  72  Sink            1.391          1.006          2.326          0              0              0
  73  Microwave       0.108          0.981          0.262          0              0              0
  74  HousePlant      -0.165         0.826          6.444          0              0              0
  75  CoffeeMachine   1.551          0.982          0.953          0              270            0
  76  Toaster         1.473          0.981          4.715          0              270            0
  77  Window          -2.065         1.916          3.626          90             90             0
  78  Window          1.763          2.007          2.299          90             270            0
  79  Fridge          2.035          0.0            5.625          0              0              0
  80  SinkBasin       1.387          0.880          2.338          0              90             0
  81  GarbageCan      2.001          -0.044         6.503          0              0              0
  82  StoveKnob       1.140          0.934          3.987          45             270            0
  83  StoveKnob       1.140          0.934          4.309          45             270            0
  84  StoveKnob       1.140          0.934          4.140          45             270            0
  85  StoveKnob       1.140          0.934          3.824          45             270            0
  86  Vase            -0.226         0.834          6.993          0              0              0
  87  Vase            2.098          0.043          7.070          0              257.232        0
  88  Vase            -0.594         0.835          6.130          0              225            0
  89  LightSwitch     -2.0           1.549          6.045          0              90             0
  90  Safe            2.046          1.072          7.054          0              257.232        0
  91  Faucet          1.534          1.025          2.371          0              294.391        0
  92  Blinds          1.738          2.563          2.312          0              90             0
  93  DiningTable     -0.156         0.000          6.474          0              0              0
  94  Chair           0.291          0.002          6.142          0              310.162        0
  95  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn right, walk across the room, turn right toward the table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn right, walk a short distance, turn left towards the table. | STEP 4: Cut the potato in slices. | STEP 5: Turn right, walk towards the refrigerator.  | STEP 6: Open the refrigerator, place the knife inside. | STEP 7: Turn around, walk across the room, turn towards the table on the right. | STEP 8: Pick up a potato slice on table. | STEP 9: Turn around, walk across the room to the microwave on the counter.  | STEP 10: Open the microwave, place the potato slice in, set microwave to 5 seconds, take out the potato slice. | STEP 11: Turn left, walk straight towards the counter. | STEP 12: Place potato slice on the counter next to the coffee machine. | END