Task: Heating up a vegetable and putting it on the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          2.5            0              0              0
   1  Pan             -0.244         0.829          1.684          0              0              0              49
   2  Potato          -2.258         0.862          0.203          0              0              0              50
   3  Potato          -2.892         0.863          2.133          0              90             0              68
   4  Potato          -2.671         1.182          2.045          0              90             0              68
   5  DishSponge      -2.608         0.823          0.129          0              0              0              50
   6  Fork            -2.631         0.693          1.474          0              90             0              55
   7  Spoon           -0.363         0.698          0.912          0              90             0              52
   8  Spatula         -2.375         0.838          0.352          0              0              0              50
   9  Cup             -1.407         0.125          0.323          0              0              0              63
  10  Cup             -2.671         0.825          1.957          0              90             0              68
  11  Plate           -1.580         0.130          0.440          0              0              0              63
  12  Knife           -2.044         0.849          0.528          0              0              0              50
  13  Knife           -0.817         0.849          0.203          0              90             0              50
  14  Tomato          -0.262         0.106          2.539          0              0              0              70
  15  SoapBottle      -0.092         0.821          1.103          0              0              0              50
  16  SoapBottle      -0.362         0.054          2.674          0              0              0              70
  17  SaltShaker      -0.482         0.818          0.500          0              0              0              50
  18  SaltShaker      -2.375         0.818          0.129          0              0              0              50
  19  PepperShaker    -2.504         0.818          0.707          0              0              0              50
  20  Mug             -2.777         0.916          1.390          0              90             0              69
  21  Mug             -0.646         0.888          0.367          0              0              0              78
  22  Apple           -2.837         1.216          1.957          0              90             0              68
  23  Fork            -2.563         0.693          1.474          0              90             0              55
  24  Ladle           -0.371         0.738          0.879          0              45             0              52
  25  Pan             -0.244         0.829          2.075          0              180            0              45
  26  SoapBottle      -2.609         0.119          1.431          0              0              0              61
  27  Pot             -0.531         0.822          2.096          0              0              0              47
  28  Tomato          -2.892         0.874          1.957          0              90             0              68
  29  Potato          -0.147         0.862          0.426          0              0              0              50
  30  SaltShaker      -2.840         0.818          0.352          0              0              0              50
  31  Plate           -2.057         0.130          0.401          0              0              0              62
  32  Spatula         -0.341         0.696          1.194          0              45             0              46
  33  Knife           -2.662         0.819          0.557          90             300.034        0              50
  34  Egg             -0.429         0.080          2.572          0              0              0              70
  35  Cup             -2.462         1.849          2.316          0              0              0              60
  36  ButterKnife     -0.323         0.823          1.214          0              0              0              50
  37  Lettuce         -2.837         1.227          2.133          0              90             0              68
  38  PepperShaker    -2.813         0.818          0.462          0              0              0              50
  39  DishSponge      -2.724         0.823          0.129          0              0              0              50
  40  Bread           -0.979         0.855          0.249          0              29.999         0              50
  41  Spoon           -0.777         0.712          0.378          0              90             0              53
  42  Mug             -0.169         0.818          1.214          0              180            0              50
  43  Bowl            -2.782         0.821          2.397          0              90             0              68
  44  Cabinet         -2.377         2.015          1.720          0              0              0
  45  StoveBurner     -0.244         0.820          2.075          0              180            0
  46  Drawer          -0.402         0.703          1.252          0              0              0
  47  StoveBurner     -0.518         0.820          2.075          0              180            0
  48  Sink            -1.838         0.726          0.343          0              180            0
  49  StoveBurner     -0.244         0.820          1.684          0              0              0
  50  CounterTop      -1.557         0.859          0.277          0              0              0
  51  StoveBurner     -0.518         0.820          1.684          0              0              0
  52  Drawer          -0.404         0.704          0.912          0              0              0
  53  Drawer          -0.861         0.709          0.420          0              0              0
  54  Drawer          -1.133         0.706          0.418          0              0              0
  55  Drawer          -2.589         0.703          1.511          0              0              0
  56  Cabinet         -2.772         1.803          0.508          0              0              0
  57  Cabinet         -2.460         1.803          0.231          0              0              0
  58  Cabinet         -2.781         1.798          0.825          0              0              0
  59  Cabinet         -2.781         1.798          0.815          0              0              0
  60  Cabinet         -2.377         2.009          2.581          0              0              0
  61  Cabinet         -2.442         0.385          1.672          0              0              0
  62  Cabinet         -2.238         0.385          0.564          0              0              0
  63  Cabinet         -1.286         0.385          0.564          0              0              0
  64  Cabinet         -1.262         0.385          0.565          0              0              0
  65  Cabinet         -0.734         0.385          0.565          0              0              0
  66  Cabinet         -0.549         0.385          0.751          0              0              0
  67  Cabinet         -0.549         0.385          1.412          0              0              0
  68  Fridge          -2.782         0.0            2.221          0              0              0
  69  Microwave       -2.794         0.812          1.348          0              90             0
  70  GarbageCan      -0.329         2.205          2.606          0              0              0
  71  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  72  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  73  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  74  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  75  Window          -1.720         1.342          -0.208         90             0              0
  76  Toaster         -0.171         0.812          0.735          0              270            0
  77  SinkBasin       -1.745         0.687          0.295          0              0              0
  78  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  79  LightSwitch     -0.615         1.378          3.0            0              180            0
  80  Faucet          -1.686         0.954          0.176          0              236.223        0
  81  Stool           -1.008         0.008          1.955          0              18.279         0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn around and move towards the sink | STEP 2: Pick up the dark brown vegetable from the right of the sink | STEP 3: Turn to the microwave to the right | STEP 4: Open the microwave and place the brown vegetable inside, close microwave, start it, open microwave and remove brown vegetable | STEP 5: Turn left towards the sink | STEP 6: Place the brown vegetable on the counter just above the knife and below the spatula to the right of the sink | END