Task: Cut tomato with knife, put knife in cabinet, heat tomato in microwave and put it on a counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.931          -0.25          0              270            0
   1  Potato          0.065          1.096          0.522          0              0              0              43
   2  Potato          -1.423         1.766          2.331          0              90             0              56
   3  Pot             0.120          1.053          -1.630         0              0              0              44
   4  Spoon           -0.517         1.048          -1.289         0              0              0              41
   5  Egg             -1.047         1.770          -1.300         0              0              0              55
   6  Egg             1.271          0.947          0.158          0              90             0              38
   7  Knife           1.181          1.069          0.763          0              0              0              43
   8  Tomato          -1.064         1.014          2.153          0              90             0              56
   9  Tomato          1.347          1.094          0.632          0              0              0              43
  10  Tomato          -1.264         1.540          2.063          0              90             0              56
  11  SoapBottle      -0.222         0.204          -1.553         0              0              0              50
  12  Bowl            -1.261         2.027          -1.482         0              0              0              48
  13  SaltShaker      1.072          1.041          -1.181         0              0              0              41
  14  SaltShaker      0.885          1.560          -1.839         0              0              0              45
  15  SoapBottle      1.436          0.205          -1.553         0              0              0              51
  16  Apple           -1.031         0.750          2.331          0              90             0              56
  17  Potato          -1.276         1.766          2.063          0              90             0              56
  18  Fork            1.701          1.043          0.091          0              0              0              43
  19  Kettle          -1.261         0.203          -1.265         0              0              0              49
  20  Pan             0.965          1.035          -1.66          0              290.450        0              41
  21  Tomato          0.936          1.105          0.281          0              90             0              39
  22  SaltShaker      -0.624         1.560          -1.619         0              0              0              46
  23  Egg             0.446          1.097          0.630          0              0              0              43
  24  Cup             -1.243         1.716          -1.300         0              0              0              55
  25  Spatula         1.612          1.058          0.522          0              270            0              43
  26  Knife           0.877          1.042          -1.362         90             315            0              41
  27  Lettuce         0.858          1.103          0.135          30.591         304.297        0              39
  28  ButterKnife     1.701          1.043          0.630          0              0              0              43
  29  PepperShaker    1.741          0.199          -1.335         0              0              0              51
  30  DishSponge      -1.416         0.202          -1.555         0              0              0              49
  31  Plate           1.666          1.032          -1.557         0              0              0              47
  32  Bread           -0.346         1.120          -1.397         0              0              0              41
  33  Spoon           0.848          1.044          0.807          0              0              0              43
  34  Pot             0.389          1.053          -1.630         0              0              0              37
  35  Mug             1.512          0.199          -1.262         0              0              0              51
  36  Bowl            1.741          0.203          -1.553         0              0              0              51
  37  StoveBurner     0.389          1.043          -1.630         0              0              0
  38  SinkBasin       1.211          0.882          0.236          0              90             0
  39  Sink            0.928          0.941          0.324          0              90             0
  40  StoveBurner     0.000          1.048          -1.399         0              0              0
  41  CounterTop      0.196          1.082          -1.504         0              0              0
  42  StoveBurner     0.5            1.048          -1.399         0              0              0
  43  CounterTop      0.968          1.078          0.415          0              0              0
  44  StoveBurner     0.120          1.043          -1.630         0              0              0
  45  Cabinet         1.322          1.955          -1.309         0              0              0
  46  Cabinet         -0.866         1.955          -1.309         0              0              0
  47  Cabinet         1.993          1.403          -1.110         0              0              0
  48  Cabinet         -1.547         2.001          -1.110         0              0              0
  49  Cabinet         -1.526         0.593          -1.110         0              0              0
  50  Cabinet         -0.852         0.589          -1.110         0              0              0
  51  Cabinet         1.990          0.593          -1.110         0              0              0
  52  Cabinet         1.336          0.589          -1.110         0              0              0
  53  StoveBurner     0.250          1.048          -1.399         0              0              0
  54  Toaster         -0.550         1.035          -1.776         0              0              0
  55  Microwave       -1.189         1.624          -1.284         0              0              0
  56  Fridge          -1.286         0.020          1.832          0              90             0
  57  GarbageCan      1.856          -0.019         2.386          0              270            0
  58  LightSwitch     1.016          1.360          2.619          0              180            0
  59  CoffeeMachine   1.929          1.031          0.440          0              270            0
  60  StoveKnob       0.0            1.046          -1.220         0              0              0
  61  StoveKnob       0.090          1.046          -1.220         0              0              0
  62  StoveKnob       0.246          1.046          -1.220         0              0              0
  63  StoveKnob       0.490          1.046          -1.220         0              0              0
  64  StoveKnob       0.389          1.046          -1.220         0              0              0
  65  Faucet          1.277          1.265          0.384          0              90             0
  66  Chair           0.343          0.031          0.976          0              166.747        0
  67  Chair           1.008          0.031          1.034          0              180            0
  68  Chair           1.575          0.031          1.050          0              210.000        0
  69  NorthWall
  70  EastWall
  71  SouthWall
  72  WestWall

Plan:
STEP 1: To left to face counter between stove and refrigerator. | STEP 2: Pick up knife, to the right of the shaker, from the counter. | STEP 3: Turn around to face sink. | STEP 4: Slice tomato, located behind the lettuce to the left of the sink, with the knife. | STEP 5: Turn around to face counter between stove and refrigerator. | STEP 6: Open cabinet under counter that shaker is on, place knife in cabinet, close cabinet. | STEP 7: Turn around to face sink. | STEP 8: Pick up middle slice of tomato behind lettuce. | STEP 9: Turn left, go to wall.  Turn left to face stove and microwave. | STEP 10: Open microwave door, place tomato in front of mug, close microwave door.  Wait four seconds, open microwave door, remove tomato slice, close microwave door. | STEP 11: Turn left, proceed to counter on right side with toaster and bread on it. | STEP 12: Put tomato on counter directly in front of spoon. | END