Task: put a clean potato in to 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          0.0            0              0              0
   1  Pan             0.889          0.911          -1.513         0              90             0              74
   2  Potato          -1.783         0.863          0.295          0              90             0              97
   3  Potato          1.117          0.935          -1.415         0              0              0              74
   4  Potato          -1.750         0.586          -0.269         0              90             0              97
   5  Ladle           -1.151         0.157          -1.487         0              0              0              86
   6  Kettle          1.765          0.938          0.384          0              180            0              77
   7  ButterKnife     -0.213         0.925          0.506          0              0              0              82
   8  Fork            0.107          0.916          0.041          0              0              0              82
   9  Fork            -0.213         0.926          0.041          0              0              0              82
  10  Spoon           1.603          0.122          0.381          0              180            0              66
  11  Spoon           0.214          0.926          0.506          0              0              0              82
  12  Spatula         -1.668         0.926          -1.221         0              0              0              74
  13  Spatula         1.562          0.560          1.350          0              270            0              72
  14  Egg             0.083          0.817          -1.546         0              0              0              98
  15  Cup             -0.088         0.758          -1.380         0              0              0              98
  16  Cup             0.107          0.923          0.970          0              0              0              82
  17  Plate           -0.193         0.113          -1.409         0              0              0              53
  18  Knife           -1.639         0.933          -0.914         0              270            0              74
  19  Knife           -0.638         0.933          -1.415         0              0              0              74
  20  SoapBottle      1.813          0.915          1.333          0              0              0              74
  21  SoapBottle      -0.106         0.929          -0.190         0              0              0              82
  22  Bowl            -0.320         0.924          0.738          0              0              0              82
  23  Bowl            1.924          1.657          -1.204         0              270            0              62
  24  SaltShaker      1.862          0.541          1.350          0              0              0              72
  25  SaltShaker      0.361          0.109          -1.534         0              0              0              63
  26  Bread           0.107          1.006          0.738          0              0              0              82
  27  Lettuce         -1.750         1.545          0.013          0              90             0              97
  28  Lettuce         -0.106         1.002          0.273          0              0              0              82
  29  SoapBottle      -0.213         0.929          0.970          0              0              0              82
  30  Cup             2.073          0.909          1.408          0              0              0              74
  31  Pot             1.975          0.938          0.601          0              180            0              69
  32  Fork            0.170          0.761          -1.435         0              0              0              98
  33  Ladle           1.713          0.281          0.047          0              0              0              57
  34  Kettle          1.765          0.938          0.819          0              180            0              71
  35  Egg             0.321          0.982          0.273          0              0              0              82
  36  Plate           -1.803         1.675          0.201          0              90             0              97
  37  Pan             -1.286         0.9            -1.348         0              79.769         0              74
  38  Lettuce         -1.902         0.988          -1.013         0              0              0              74
  39  Spatula         1.117          0.926          -1.221         0              0              0              74
  40  Apple           -1.750         1.522          0.295          0              90             0              97
  41  Knife           1.640          0.933          1.258          0              270            0              80
  42  SaltShaker      -0.213         0.921          0.273          0              0              0              82
  43  PepperShaker    1.746          0.907          0.025          0              0              0              74
  44  CellPhone       1.713          0.457          0.736          0              0              0              78
  45  ButterKnife     0.000          0.925          0.970          0              0              0              82
  46  Bread           0.259          0.987          -0.092         0              330.871        0              82
  47  Tomato          -0.320         0.980          -0.190         0              0              0              82
  48  Potato          -1.818         0.066          1.371          0              270            0              88
  49  DishSponge      1.815          0.349          0.116          0              0              0              70
  50  Spoon           1.658          0.584          0.052          0              270            0              59
  51  Mug             -1.645         1.464          -0.175         0              90             0              97
  52  Bowl            -1.692         0.561          0.107          0              90             0              97
  53  Cabinet         -0.495         0.474          -1.149         0              0              0
  54  Window          -0.010         1.582          -1.821         0              0              0
  55  Drawer          0.805          0.475          -1.159         0              0              0
  56  StoveBurner     1.764          0.902          0.601          0              270            0
  57  Drawer          1.5            0.196          -0.019         0              0              0
  58  Drawer          1.5            0.629          -0.018         0              0              0
  59  Drawer          1.5            0.602          -0.019         0              270            0
  60  StoveBurner     1.975          0.902          0.384          0              270            0
  61  Cabinet         -1.703         2.022          -1.453         0              90             0
  62  Cabinet         1.789          2.019          -0.819         0              270            0
  63  Cabinet         0.494          0.474          -1.149         0              0              0
  64  Cabinet         0.409          0.475          0.444          0              0              0
  65  Drawer          -0.696         0.475          -1.159         0              0              0
  66  Drawer          1.5            0.140          0.599          0              270            0
  67  Cabinet         1.389          0.474          -1.149         0              0              0
  68  Drawer          1.5            0.305          0.600          0              0              0
  69  StoveBurner     1.975          0.902          0.601          0              270            0
  70  Drawer          1.5            0.429          -0.019         0              0              0
  71  StoveBurner     1.764          0.902          0.819          0              270            0
  72  Drawer          1.5            0.519          1.220          0              0              0
  73  Cabinet         1.705          2.019          -1.449         0              0              0
  74  CounterTop      0.002          0.947          -1.513         0              0              0
  75  Drawer          1.5            0.629          0.605          0              0              0
  76  Cabinet         -0.627         2.019          -1.449         0              0              0
  77  StoveBurner     1.764          0.902          0.384          0              270            0
  78  Drawer          1.5            0.538          0.600          0              0              0
  79  Sink            0.0            0.893          -1.434         0              0              0
  80  Drawer          1.5            0.782          1.220          0              270            0
  81  Window          2.217          1.565          -0.384         0              0              0
  82  CounterTop      -0.014         0.961          0.505          0              0              0
  83  Drawer          1.5            0.200          1.220          0              0              0
  84  StoveBurner     1.975          0.902          0.819          0              270            0
  85  Window          -3.240         1.616          2.693          0              270            0
  86  Cabinet         -1.389         0.474          -1.149         0              0              0
  87  LightSwitch     -0.153         1.291          3.700          0              180            0
  88  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  89  StoveKnob       1.602          0.917          0.570          0              270            180
  90  StoveKnob       1.602          0.917          0.625          0              270            180
  91  StoveKnob       1.602          0.917          0.739          0              270            180
  92  StoveKnob       1.602          0.917          0.680          0              270            180
  93  StoveKnob       1.602          0.917          0.462          0              270            180
  94  StoveKnob       1.602          0.917          0.517          0              270            180
  95  Microwave       1.932          0.899          -0.766         0              270            0
  96  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  97  Fridge          -1.764         0.0            0.014          0              90             0
  98  SinkBasin       -0.014         0.736          -1.435         0              0              0
  99  Toaster         1.977          0.900          -0.336         0              270            0
 100  Faucet          -0.020         1.137          -1.605         0              270            0
 101  Chair           -9.354         0.000          1.242          0              180            0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: turn around and move to the counter where the spatula is sitting | STEP 2: pick up the potato off of the counter | STEP 3: turn to the right, move forward to the sink that is on the left hand side, turn to face the sink | STEP 4: put the potato in to the sink, turn on the water to wash off the potato, turn off the water and remove the potato from the sink | STEP 5: turn to the left and move to the microwave | STEP 6: open the microwave door, put the potato inside and close the door | END