Task: put a 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           2.0            0.930          -1.25          0              90             0
   1  Potato          3.208          0.139          1.680          0              225            0              107
   2  Potato          0.967          0.946          0.180          0              0              0              97
   3  Potato          2.987          0.785          0.165          0              90             0              111
   4  Glassbottle     -0.104         0.901          -1.733         0              45             0              87
   5  Pot             -1.008         0.900          0.846          0              270            0              66
   6  Pot             1.491          0.908          0.747          0              0              0              97
   7  Spoon           -0.033         0.901          -1.291         0              45             0              87
   8  CellPhone       -0.055         0.703          -1.377         0              45             0              76
   9  CellPhone       0.672          0.905          0.655          0              36.810         0              97
  10  Mug             3.049          0.966          0.591          0              270            0              109
  11  Mug             -1.085         0.992          1.258          0              90             0              114
  12  Apple           1.229          0.984          0.464          0              0              0              97
  13  Apple           -0.907         0.974          -0.823         0              45             0              66
  14  Bread           0.445          0.986          0.426          0              0              0              97
  15  SaltShaker      -0.686         0.514          -0.801         0              45             0              89
  16  PepperShaker    -0.207         1.259          -1.527         0              45             0              83
  17  Bowl            -0.675         0.897          -0.753         0              45             0              66
  18  Bowl            2.971          0.174          0.700          0              0              0              75
  19  Tomato          1.242          1.110          -1.448         0              0              0              112
  20  Egg             3.111          0.799          -0.100         0              90             0              111
  21  Egg             0.851          0.938          -1.503         0              0              0              112
  22  Cup             1.086          0.709          -1.407         0              0              0              112
  23  Plate           0.839          0.923          0.530          0              36.810         0              97
  24  Plate           -1.008         0.913          0.399          0              0              0              66
  25  Knife           -1.008         0.925          -0.047         0              0              0              66
  26  Knife           0.967          0.933          0.747          0              0              0              97
  27  Plate           3.028          0.188          -0.786         0              0              0              78
  28  Glassbottle     1.303          1.675          -1.550         0              0              0              57
  29  SoapBottle      0.336          0.909          -1.516         0              0              0              87
  30  Potato          -0.239         0.938          -1.496         0              45             0              87
  31  Fork            -0.868         0.518          0.076          0              0              0              93
  32  Ladle           -0.991         0.167          1.430          0              90             0              90
  33  Pot             0.423          0.900          0.869          0              0              0              97
  34  Kettle          -0.600         0.902          -1.090         0              135            0              55
  35  Spatula         -0.786         0.721          1.430          0              0              0              59
  36  Knife           -0.285         0.925          -1.450         0              135            0              87
  37  Lettuce         0.661          0.976          0.176          0              36.810         0              97
  38  Cup             -1.085         0.995          1.470          0              90             0              114
  39  SaltShaker      -1.015         0.896          -0.719         0              45             0              66
  40  Egg             3.128          0.153          1.546          0              225            0              107
  41  PepperShaker    -0.868         0.127          0.489          0              0              0              67
  42  ButterKnife     0.336          0.900          -1.731         0              180            0              87
  43  Apple           1.086          1.321          -1.475         0              0              0              112
  44  Pan             3.200          0.900          -0.798         0              90             0              65
  45  Bread           0.007          0.979          -1.435         0              45             0              87
  46  CellPhone       -0.827         0.128          0.926          0              0              0              96
  47  DishSponge      -0.717         0.899          -0.270         0              0              0              66
  48  Tomato          3.355          0.937          -0.300         0              0              0              65
  49  Spoon           1.491          0.909          0.322          0              0              0              97
  50  Bowl            3.249          1.461          -1.648         0              0              0              64
  51  Mug             1.242          0.706          -1.433         0              0              0              112
  52  Drawer          0.376          0.572          -1.509         0              0              0
  53  Drawer          3.020          0.769          -0.783         0              180            0
  54  Drawer          -0.860         0.577          1.429          0              0              0
  55  StoveBurner     -0.600         0.897          -1.090         0              135            0
  56  Drawer          0.376          0.191          -1.509         0              0              0
  57  Cabinet         1.402          1.874          -1.259         0              0              0
  58  Cabinet         -0.202         1.963          -1.328         0              0              0
  59  Drawer          -0.860         0.765          1.429          0              0              0
  60  Drawer          -0.677         0.765          -0.700         0              0              0
  61  StoveBurner     -0.420         0.897          -0.920         0              135            0
  62  Drawer          3.020          0.769          -0.407         0              180            0
  63  Drawer          -0.860         0.577          0.663          0              0              0
  64  Cabinet         2.819          1.768          -1.850         0              0              0
  65  CounterTop      3.111          0.936          0.019          0              0              0
  66  CounterTop      -1.007         0.935          -0.039         0              0              0
  67  Drawer          -0.860         0.385          0.663          0              0              0
  68  StoveBurner     -0.419         0.897          -1.269         0              315            0
  69  Drawer          -0.047         0.573          -1.324         0              0              0
  70  Drawer          -0.860         0.765          0.663          0              0              0
  71  Drawer          -0.860         0.385          -0.100         0              0              0
  72  Drawer          0.376          0.380          -1.509         0              0              0
  73  Drawer          -0.860         0.765          -0.100         0              0              0
  74  Drawer          0.376          0.765          -1.509         0              0              0
  75  Cabinet         2.849          0.419          0.409          0              0              0
  76  Drawer          -0.047         0.765          -1.324         0              0              0
  77  Cabinet         2.849          0.419          -0.610         0              0              0
  78  Cabinet         2.849          0.419          -0.959         0              0              0
  79  Cabinet         3.069          1.666          -0.709         0              0              0
  80  Cabinet         2.819          1.768          -1.047         0              0              0
  81  Cabinet         0.620          1.874          -1.259         0              0              0
  82  Cabinet         0.140          1.666          -1.559         0              0              0
  83  Cabinet         -0.189         1.666          -1.340         0              0              0
  84  Cabinet         -0.709         1.963          -0.819         0              0              0
  85  Cabinet         -0.920         1.665          -0.620         0              0              0
  86  Drawer          -0.860         0.190          -0.100         0              0              0
  87  CounterTop      0.133          0.935          -1.457         0              0              0
  88  Drawer          3.020          0.769          0.695          0              180            0
  89  Drawer          -0.677         0.577          -0.700         0              0              0
  90  Drawer          -0.860         0.190          1.429          0              0              0
  91  Drawer          -0.047         0.192          -1.324         0              0              0
  92  Drawer          -0.677         0.193          -0.700         0              0              0
  93  Drawer          -0.860         0.577          -0.100         0              0              0
  94  Sink            3.078          0.887          0.086          0              0              0
  95  StoveBurner     -0.239         0.897          -1.089         0              315            0
  96  Drawer          -0.860         0.190          0.663          0              0              0
  97  CounterTop      1.210          0.937          0.463          0              0              0
  98  Drawer          -0.047         0.381          -1.324         0              0              0
  99  Drawer          -0.677         0.387          -0.700         0              0              0
 100  Mirror          -1.295         1.630          0.045          0              0              0
 101  Drawer          -0.860         0.385          1.429          0              0              0
 102  HousePlant      3.196          0.891          -0.368         0              0              0
 103  StoveKnob       -0.090         0.790          -1.009         270            45             0
 104  StoveKnob       -0.280         0.790          -0.819         270            45             0
 105  StoveKnob       -0.180         0.790          -0.920         270            45             0
 106  StoveKnob       -0.370         0.790          -0.720         270            45             0
 107  GarbageCan      3.137          0.025          1.545          0              225            0
 108  Window          3.703          1.675          0.046          90             90             0
 109  CoffeeMachine   3.214          0.890          0.697          0              270            0
 110  LightSwitch     2.592          1.309          -1.880         0              0              0
 111  SinkBasin       3.069          0.736          0.108          0              90             0
 112  Fridge          1.008          0.029          -1.467         0              0              0
 113  Toaster         -1.035         0.873          -0.396         0              90             0
 114  Microwave       -1.034         0.874          1.428          0              90             0
 115  Faucet          3.305          0.886          0.094          270            180            0
 116  NorthWall
 117  EastWall
 118  SouthWall
 119  WestWall

Plan:
STEP 1: turn left, walk across the room, turn right to face blue bin | STEP 2: pick up the potato that is in the blue bin | STEP 3: turn right, walk forward, turn right, walk forward, turn right, walk forward, turn to face microwave on the left | STEP 4: open microwave, put potato in the microwave | END