Task: Placing 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          1.75           0              180            0
   1  Pan             1.691          0.929          -0.335         0              0              0              54
   2  Pan             1.411          0.929          0.064          0              0              0              75
   3  Potato          -0.601         0.947          0.870          0              0              0              46
   4  Potato          -0.730         0.947          1.317          0              0              0              46
   5  Potato          -2.668         1.051          2.481          0              90             0              86
   6  ButterKnife     -0.341         0.910          1.540          0              0              0              46
   7  Fork            -2.455         0.911          1.230          0              0              0              74
   8  Spatula         -2.318         0.788          0.391          0              90             0              63
   9  Egg             1.512          0.941          0.465          0              0              0              55
  10  Egg             -2.420         0.625          -0.872         0              90             0              78
  11  Tomato          1.145          0.813          -1.376         0              225            0              84
  12  Tomato          -2.206         0.953          1.230          0              0              0              74
  13  SoapBottle      1.687          0.187          0.651          0              0              0              85
  14  SoapBottle      1.698          1.665          -0.335         0              0              0              66
  15  Bowl            0.445          1.660          -1.802         0              90             0              53
  16  Bowl            -2.599         1.535          0.774          0              0              0              70
  17  PepperShaker    -0.471         0.905          0.647          0              0              0              46
  18  SaltShaker      1.855          0.906          0.346          0              0              0              55
  19  Lettuce         -2.621         0.994          1.230          0              0              0              74
  20  Lettuce         -0.211         0.994          1.317          0              0              0              46
  21  Mug             0.464          0.955          -1.593         0              0              0              56
  22  Apple           0.683          0.972          -1.710         0              0              0              56
  23  Pan             0.0            0.9            0.948          0              29.999         0              46
  24  Knife           -2.257         0.798          0.391          0              90             0              63
  25  Apple           -2.485         1.150          -0.979         0              90             0              78
  26  Bowl            -2.455         0.908          1.530          0              0              0              74
  27  Fork            -2.196         0.774          0.905          0              90             0              51
  28  Bread           -2.289         0.996          0.331          0              0              0              74
  29  Plate           -2.289         0.913          0.931          0              0              0              74
  30  Egg             -2.439         1.331          -0.885         0              90             0              78
  31  Kettle          -2.599         1.539          2.057          0              0              0              58
  32  Potato          1.426          0.954          -1.096         0              45             0              60
  33  SaltShaker      -0.601         0.905          1.764          0              0              0              46
  34  Lettuce         -2.289         0.994          0.631          0              0              0              74
  35  Cup             1.248          0.916          -1.134         0              225            0              60
  36  SoapBottle      1.407          0.920          -1.185         0              225            0              60
  37  Spatula         -2.257         0.788          0.809          0              90             0              51
  38  PaperTowelRoll  1.132          1.015          -0.985         0              45             0              60
  39  ButterKnife     -0.081         0.910          1.764          0              0              0              46
  40  PepperShaker    -2.605         1.532          2.550          0              0              0              50
  41  DishSponge      -2.273         0.114          0.076          0              0              0              62
  42  Pot             1.691          0.929          0.064          0              0              0              57
  43  Spoon           -2.379         0.775          0.534          0              270            0              63
  44  Tomato          -2.393         1.342          -0.790         0              90             0              78
  45  Mug             -2.567         1.933          -0.578         0              0              0              68
  46  CounterTop      -0.360         0.946          1.093          0              0              0
  47  StoveBurner     1.412          0.923          -0.335         0              0              0
  48  StoveKnob       1.878          1.093          0.018          287.989        90             0
  49  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  50  Cabinet         -2.446         1.948          2.924          0              0              0
  51  Drawer          -2.276         0.792          0.902          0              0              0
  52  Cabinet         -2.145         0.402          1.578          0              0              0
  53  Cabinet         0.149          2.008          -1.603         0              90             0
  54  StoveBurner     1.691          0.923          -0.335         0              0              0
  55  CounterTop      1.585          0.946          0.405          0              0              0
  56  CounterTop      0.474          0.946          -1.625         0              0              0
  57  StoveBurner     1.691          0.923          0.064          0              0              0
  58  Cabinet         -2.446         1.948          1.687          0              0              0
  59  Cabinet         -2.446         1.948          1.640          0              0              0
  60  Sink            1.381          0.810          -1.271         0              225            0
  61  StoveKnob       1.878          1.093          0.150          287.989        90             0
  62  Cabinet         -2.145         0.402          -0.236         0              0              0
  63  Drawer          -2.276         0.792          0.437          0              0              0
  64  Drawer          -2.276         0.792          -0.027         0              0              0
  65  Cabinet         1.572          2.008          0.474          0              0              0
  66  Cabinet         1.572          2.008          -0.775         0              0              0
  67  Cabinet         -2.445         2.148          -1.275         0              0              0
  68  Cabinet         -2.446         2.148          -0.284         0              0              0
  69  Cabinet         -2.446         1.948          0.355          0              0              0
  70  Cabinet         -2.446         1.948          0.405          0              0              0
  71  Cabinet         -2.145         0.402          0.644          0              0              0
  72  Cabinet         -2.145         0.402          0.695          0              0              0
  73  Cabinet         -2.285         1.968          -1.325         0              180            0
  74  CounterTop      -1.485         0.946          1.319          0              0              0
  75  StoveBurner     1.411          0.923          0.064          0              0              0
  76  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  77  Drawer          -2.276         0.792          1.368          0              0              0
  78  Fridge          -2.475         0.0            -0.782         0              90             0
  79  LightSwitch     -0.929         1.350          -1.950         0              0              0
  80  Toaster         -2.564         0.900          1.876          0              90             0
  81  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  82  Window          1.508          1.534          -1.496         90             135            0
  83  Window          1.973          1.521          1.121          90             90             0
  84  SinkBasin       1.149          0.753          -1.380         0              225            0
  85  GarbageCan      1.646          -0.000         0.679          0              0              0
  86  Microwave       -2.580         0.900          2.440          0              90             0
  87  Stool           0.439          0.010          0.747          0              0              0
  88  Stool           -2.303         0.010          1.839          0              0              0
  89  Faucet          1.235          1.138          -1.473         0              225            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn left and walk to the island in the middle of the room.  | STEP 2: Pick up the knife closest to the edge of the counter top.  | STEP 3: Turn to the left and walk to the sink.  | STEP 4: Slice the potato that is beside the hand soap on the counter.  | STEP 5: Move over to the sink basin. | STEP 6: Place the knife in the sink basin. | STEP 7: Turn right and walk closer to the sink basin.  | STEP 8: Pick up a potato slice from the counter. | STEP 9: Walk back to the sink basin to the right.  | STEP 10: Place the potato slice in the basin and wash it.  | STEP 11: Remove the potato slice from the basin, turn right and walk to the microwave across the room.  | STEP 12: Place the potato slice into the microwave and close the door.  | END