Task: Warm a slice of potato  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           2.5            0.930          0.75           0              180            0
   1  Potato          1.086          1.286          -1.448         0              0              0              108
   2  Potato          1.242          0.749          -1.459         0              0              0              108
   3  DishSponge      0.354          1.259          -1.672         0              0              0              78
   4  ButterKnife     -0.868         0.706          1.605          0              0              0              55
   5  Glassbottle     3.152          0.748          0.231          0              90             0              107
   6  Glassbottle     0.605          0.911          0.218          0              36.810         0              93
   7  Fork            -0.675         0.900          -0.753         0              45             0              62
   8  Fork            1.098          0.908          0.180          0              0              0              93
   9  Apple           0.716          0.981          0.135          0              36.810         0              93
  10  Apple           -0.935         0.974          0.399          0              0              0              62
  11  Lettuce         0.929          0.951          -1.503         0              0              0              108
  12  SaltShaker      -0.991         0.514          1.693          0              0              0              50
  13  SaltShaker      -0.950         0.702          0.576          0              0              0              66
  14  Bowl            -0.207         1.260          -1.527         0              45             0              79
  15  SoapBottle      0.012          0.909          -1.337         0              45             0              83
  16  SoapBottle      3.197          0.186          0.841          0              0              0              71
  17  Tomato          0.798          0.947          0.727          0              0              0              93
  18  Tomato          -0.987         0.937          -0.746         0              45             0              62
  19  Egg             1.242          1.300          -1.503         0              0              0              108
  20  Cup             1.008          1.071          -1.503         0              0              0              108
  21  Plate           3.084          0.190          0.629          0              0              0              71
  22  Plate           0.725          0.921          0.494          0              36.810         0              93
  23  Plate           3.200          0.913          -0.798         0              0              0              61
  24  Glassbottle     -0.964         1.259          -0.765         0              45             0              81
  25  SoapBottle      1.351          1.683          -1.410         0              0              0              53
  26  Potato          3.152          0.785          0.098          0              90             0              107
  27  Fork            -0.991         0.518          -0.273         0              90             0              89
  28  Ladle           0.054          0.937          -1.481         0              45             0              83
  29  Pot             -0.935         0.900          0.176          0              0              0              62
  30  Kettle          -0.600         0.902          -1.090         0              135            0              51
  31  Spatula         1.229          0.925          0.747          0              180            0              93
  32  Knife           0.533          0.936          0.827          0              0              0              93
  33  Lettuce         -1.008         0.965          0.846          0              0              0              62
  34  Cup             1.242          1.071          -1.503         0              0              0              108
  35  SaltShaker      0.101          0.896          -1.516         0              0              0              83
  36  Egg             3.069          0.799          -0.100         0              90             0              107
  37  PepperShaker    0.330          0.701          -1.475         0              0              0              70
  38  ButterKnife     1.098          0.908          0.889          0              0              0              93
  39  Apple           3.155          0.174          1.626          0              225            0              103
  40  Pan             -0.419         0.902          -1.269         0              315            0              64
  41  Bread           1.534          0.972          0.486          0              289.287        0              93
  42  CellPhone       -0.786         0.128          1.168          0              0              0              86
  43  DishSponge      -0.950         0.706          0.489          0              0              0              66
  44  Tomato          1.086          0.748          -1.354         0              0              0              108
  45  Spoon           3.373          0.901          -0.023         0              90             0              61
  46  Bowl            2.960          1.461          -1.186         0              0              0              76
  47  Mug             3.049          0.966          0.591          0              270            0              105
  48  Drawer          0.376          0.572          -1.509         0              0              0
  49  Drawer          3.020          0.769          -0.783         0              180            0
  50  Drawer          -0.860         0.577          1.429          0              0              0
  51  StoveBurner     -0.600         0.897          -1.090         0              135            0
  52  Drawer          0.376          0.191          -1.509         0              0              0
  53  Cabinet         1.402          1.874          -1.259         0              0              0
  54  Cabinet         -0.202         1.963          -1.328         0              0              0
  55  Drawer          -0.860         0.765          1.429          0              0              0
  56  Drawer          -0.677         0.765          -0.700         0              0              0
  57  StoveBurner     -0.420         0.897          -0.920         0              135            0
  58  Drawer          3.020          0.769          -0.407         0              180            0
  59  Drawer          -0.860         0.577          0.663          0              0              0
  60  Cabinet         2.819          1.768          -1.850         0              0              0
  61  CounterTop      3.111          0.936          0.019          0              0              0
  62  CounterTop      -1.007         0.935          -0.039         0              0              0
  63  Drawer          -0.860         0.385          0.663          0              0              0
  64  StoveBurner     -0.419         0.897          -1.269         0              315            0
  65  Drawer          -0.047         0.573          -1.324         0              0              0
  66  Drawer          -0.860         0.765          0.663          0              0              0
  67  Drawer          -0.860         0.385          -0.100         0              0              0
  68  Drawer          0.376          0.380          -1.509         0              0              0
  69  Drawer          -0.860         0.765          -0.100         0              0              0
  70  Drawer          0.376          0.765          -1.509         0              0              0
  71  Cabinet         2.849          0.419          0.409          0              0              0
  72  Drawer          -0.047         0.765          -1.324         0              0              0
  73  Cabinet         2.849          0.419          -0.610         0              0              0
  74  Cabinet         2.849          0.419          -0.959         0              0              0
  75  Cabinet         3.069          1.666          -0.709         0              0              0
  76  Cabinet         2.819          1.768          -1.047         0              0              0
  77  Cabinet         0.620          1.874          -1.259         0              0              0
  78  Cabinet         0.140          1.666          -1.559         0              0              0
  79  Cabinet         -0.189         1.666          -1.340         0              0              0
  80  Cabinet         -0.709         1.963          -0.819         0              0              0
  81  Cabinet         -0.920         1.665          -0.620         0              0              0
  82  Drawer          -0.860         0.190          -0.100         0              0              0
  83  CounterTop      0.133          0.935          -1.457         0              0              0
  84  Drawer          3.020          0.769          0.695          0              180            0
  85  Drawer          -0.677         0.577          -0.700         0              0              0
  86  Drawer          -0.860         0.190          1.429          0              0              0
  87  Drawer          -0.047         0.192          -1.324         0              0              0
  88  Drawer          -0.677         0.193          -0.700         0              0              0
  89  Drawer          -0.860         0.577          -0.100         0              0              0
  90  Sink            3.078          0.887          0.086          0              0              0
  91  StoveBurner     -0.239         0.897          -1.089         0              315            0
  92  Drawer          -0.860         0.190          0.663          0              0              0
  93  CounterTop      1.210          0.937          0.463          0              0              0
  94  Drawer          -0.047         0.381          -1.324         0              0              0
  95  Drawer          -0.677         0.387          -0.700         0              0              0
  96  Mirror          -1.295         1.630          0.045          0              0              0
  97  Drawer          -0.860         0.385          1.429          0              0              0
  98  HousePlant      3.196          0.891          -0.368         0              0              0
  99  StoveKnob       -0.090         0.790          -1.009         270            45             0
 100  StoveKnob       -0.280         0.790          -0.819         270            45             0
 101  StoveKnob       -0.180         0.790          -0.920         270            45             0
 102  StoveKnob       -0.370         0.790          -0.720         270            45             0
 103  GarbageCan      3.137          0.025          1.545          0              225            0
 104  Window          3.703          1.675          0.046          90             90             0
 105  CoffeeMachine   3.214          0.890          0.697          0              270            0
 106  LightSwitch     2.592          1.309          -1.880         0              0              0
 107  SinkBasin       3.069          0.736          0.108          0              90             0
 108  Fridge          1.008          0.029          -1.467         0              0              0
 109  Toaster         -1.035         0.873          -0.396         0              90             0
 110  Microwave       -1.034         0.874          1.428          0              90             0
 111  Faucet          3.305          0.886          0.094          270            180            0
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Walk to the right, around the island, to where the knife is | STEP 2: Pick up the knife from the island | STEP 3: Turn right, walk back to the sink on the left | STEP 4: Slice the potato in the sink | STEP 5: Turn around and walk the knife back around the island to the microwave | STEP 6: Open the microwave, place the knife inside | STEP 7: Turn to the right, walk around the island back to the sink | STEP 8: Pick up a potato slice from the sink | STEP 9: Turn to the right, walk back around the island to the microwave | STEP 10: Open the microwave, place the potato in, heat, then remove the potato slice again | STEP 11: Turn to the right, walk around the island back to the sink | STEP 12: Place the warmed slice of potato into the sink | END