Task: Slice, clean and put a tomato into 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          0.931          -0.75          0              90             0
   1  Potato          0.446          1.096          0.630          0              0              0              50
   2  ButterKnife     0.160          1.043          0.738          0              0              0              50
   3  Pot             -1.261         0.204          -1.265         0              270            0              56
   4  Spoon           0.717          1.054          0.131          0              90             0              46
   5  Plate           -1.366         1.241          1.974          0              90             0              63
   6  Knife           0.379          1.072          -1.118         0              0              0              48
   7  Knife           0.848          1.069          0.632          0              0              0              50
   8  Tomato          1.238          1.097          -1.289         0              0              0              48
   9  Tomato          0.936          1.104          0.131          0              90             0              46
  10  SoapBottle      -0.580         0.204          -1.409         0              0              0              57
  11  SoapBottle      1.854          0.123          2.414          0              270            0              64
  12  Bowl            1.741          0.203          -1.553         0              0              0              58
  13  Bowl            -1.349         1.712          2.153          0              90             0              63
  14  SaltShaker      1.968          1.038          0.738          0              0              0              50
  15  SaltShaker      -0.398         1.560          -1.841         0              0              0              53
  16  PepperShaker    0.823          1.041          -1.181         0              0              0              48
  17  PepperShaker    1.523          1.038          0.522          0              0              0              50
  18  Mug             0.936          1.048          0.331          0              90             0              46
  19  Mug             -0.670         0.198          -1.553         0              0              0              57
  20  Apple           1.701          1.086          0.738          0              0              0              50
  21  Apple           0.936          1.097          0.231          0              90             0              46
  22  SoapBottle      1.015          1.044          0.763          0              0              0              50
  23  Apple           -1.303         1.532          1.796          0              90             0              63
  24  Potato          -1.381         1.542          2.153          0              90             0              63
  25  Fork            0.848          1.043          0.807          0              0              0              50
  26  Kettle          -0.401         0.204          -1.553         0              0              0              57
  27  Pan             0.965          1.035          -1.66          0              290.450        0              48
  28  Tomato          -1.103         1.279          1.796          0              90             0              63
  29  SaltShaker      1.247          0.194          -1.484         0              0              0              59
  30  Egg             -1.096         1.770          -1.269         0              0              0              62
  31  Cup             -0.312         0.203          -1.265         0              0              0              57
  32  Spatula         1.181          1.058          0.720          0              0              0              50
  33  Knife           1.612          1.069          0.522          0              180            0              50
  34  Lettuce         -1.300         1.287          2.242          0              90             0              63
  35  ButterKnife     -0.177         1.046          -1.140         0              0              0              48
  36  PepperShaker    0.809          1.560          -1.463         0              0              0              52
  37  DishSponge      1.665          0.204          -1.190         0              0              0              58
  38  Plate           1.666          1.032          -1.264         0              0              0              54
  39  Bread           0.405          1.104          0.352          0              337.138        0              50
  40  Spoon           0.160          1.044          0.630          0              0              0              50
  41  Pot             0.5            1.057          -1.4           0              0              0              49
  42  Mug             1.765          1.081          0.331          0              270            0              66
  43  Bowl            -0.689         1.045          -1.397         0              0              0              48
  44  StoveBurner     0.389          1.043          -1.630         0              0              0
  45  SinkBasin       1.211          0.882          0.236          0              90             0
  46  Sink            0.928          0.941          0.324          0              90             0
  47  StoveBurner     0.000          1.048          -1.399         0              0              0
  48  CounterTop      0.196          1.082          -1.504         0              0              0
  49  StoveBurner     0.5            1.048          -1.399         0              0              0
  50  CounterTop      0.968          1.078          0.415          0              0              0
  51  StoveBurner     0.120          1.043          -1.630         0              0              0
  52  Cabinet         1.322          1.955          -1.309         0              0              0
  53  Cabinet         -0.866         1.955          -1.309         0              0              0
  54  Cabinet         1.993          1.403          -1.110         0              0              0
  55  Cabinet         -1.547         2.001          -1.110         0              0              0
  56  Cabinet         -1.526         0.593          -1.110         0              0              0
  57  Cabinet         -0.852         0.589          -1.110         0              0              0
  58  Cabinet         1.990          0.593          -1.110         0              0              0
  59  Cabinet         1.336          0.589          -1.110         0              0              0
  60  StoveBurner     0.250          1.048          -1.399         0              0              0
  61  Toaster         -0.550         1.035          -1.776         0              0              0
  62  Microwave       -1.189         1.624          -1.284         0              0              0
  63  Fridge          -1.286         0.020          1.832          0              90             0
  64  GarbageCan      1.856          -0.019         2.386          0              270            0
  65  LightSwitch     1.016          1.360          2.619          0              180            0
  66  CoffeeMachine   1.929          1.031          0.440          0              270            0
  67  StoveKnob       0.0            1.046          -1.220         0              0              0
  68  StoveKnob       0.090          1.046          -1.220         0              0              0
  69  StoveKnob       0.246          1.046          -1.220         0              0              0
  70  StoveKnob       0.490          1.046          -1.220         0              0              0
  71  StoveKnob       0.389          1.046          -1.220         0              0              0
  72  Faucet          1.277          1.265          0.384          0              90             0
  73  Chair           0.343          0.031          0.976          0              166.747        0
  74  Chair           1.008          0.031          1.034          0              180            0
  75  Chair           1.575          0.031          1.050          0              210.000        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Walk forward to the stove then turn to the right to face it. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn to the left twice and approach the sink. | STEP 4: Slice the tomato to the left of the sink. | STEP 5: Put the knife in the sink. | STEP 6: Pick up a slice of tomato. | STEP 7: Wash the tomato in the sink. | STEP 8: Turn to the left, walk forward then turn to the left to face the microwave. | STEP 9: Put the sliced tomato into the microwave. | END