Task: Slice a tomato, wash it, and place in microwave to be heated.

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              0              0
   1  ButterKnife     1.514          1.043          0.545          0              0              0              49
   2  Spoon           0.065          1.044          0.630          0              0              0              49
   3  Spoon           -0.346         1.048          -1.289         0              90             0              47
   4  Spatula         -0.038         1.061          -1.118         0              0              0              47
   5  Spatula         -0.432         1.061          -1.397         0              0              0              47
   6  Egg             -1.011         0.762          2.153          0              90             0              62
   7  Cup             1.068          0.200          -1.267         0              0              0              58
   8  Cup             -1.235         1.228          2.242          0              90             0              62
   9  Plate           1.817          0.217          -1.480         0              0              0              57
  10  Knife           -0.603         1.072          -1.397         0              90             0              47
  11  Tomato          -0.775         1.097          -1.397         0              0              0              47
  12  Tomato          -1.276         1.764          1.796          0              90             0              62
  13  SoapBottle      -0.689         1.047          -1.289         0              0              0              47
  14  SoapBottle      1.589          1.020          -1.191         0              90             0              53
  15  Bowl            0.160          1.042          0.738          0              0              0              49
  16  Bowl            -1.386         1.712          2.063          0              90             0              62
  17  SaltShaker      1.743          1.014          -1.337         0              0              0              53
  18  PepperShaker    -0.580         0.198          -1.409         0              0              0              56
  19  Mug             -1.184         2.023          -1.627         0              0              0              54
  20  Apple           -1.095         1.007          2.153          0              90             0              62
  21  SoapBottle      0.979          0.200          -1.628         0              0              0              58
  22  Apple           -1.096         1.759          -1.300         0              0              0              61
  23  Potato          -1.268         2.001          2.242          0              90             0              62
  24  Fork            0.906          1.047          -1.612         0              0              0              47
  25  Kettle          1.036          1.566          -1.614         0              0              0              51
  26  Pan             0.389          1.053          -1.630         0              0              0              43
  27  Tomato          -1.126         1.014          2.331          0              90             0              62
  28  SaltShaker      1.666          1.014          -1.484         0              0              0              53
  29  Egg             1.072          1.101          -1.181         0              0              0              47
  30  Cup             -1.268         1.948          1.974          0              90             0              62
  31  Spatula         1.015          1.058          0.720          0              0              0              49
  32  Knife           0.160          1.069          0.415          0              90             0              49
  33  Lettuce         -1.095         1.023          1.885          0              90             0              62
  34  ButterKnife     0.682          1.043          0.589          0              0              0              49
  35  PepperShaker    1.347          1.038          0.763          0              0              0              49
  36  DishSponge      -1.105         0.202          -1.555         0              0              0              55
  37  Plate           -0.398         1.577          -1.619         0              0              0              52
  38  Bread           0.405          1.104          0.352          0              337.138        0              49
  39  Spoon           0.071          1.031          0.229          0              0              0              49
  40  Pot             -1.029         2.029          -1.337         0              90             0              54
  41  Mug             1.765          1.081          0.331          0              270            0              65
  42  Bowl            -1.339         0.201          -1.482         0              0              0              55
  43  StoveBurner     0.389          1.043          -1.630         0              0              0
  44  SinkBasin       1.211          0.882          0.236          0              90             0
  45  Sink            0.928          0.941          0.324          0              90             0
  46  StoveBurner     0.000          1.048          -1.399         0              0              0
  47  CounterTop      0.196          1.082          -1.504         0              0              0
  48  StoveBurner     0.5            1.048          -1.399         0              0              0
  49  CounterTop      0.968          1.078          0.415          0              0              0
  50  StoveBurner     0.120          1.043          -1.630         0              0              0
  51  Cabinet         1.322          1.955          -1.309         0              0              0
  52  Cabinet         -0.866         1.955          -1.309         0              0              0
  53  Cabinet         1.993          1.403          -1.110         0              0              0
  54  Cabinet         -1.547         2.001          -1.110         0              0              0
  55  Cabinet         -1.526         0.593          -1.110         0              0              0
  56  Cabinet         -0.852         0.589          -1.110         0              0              0
  57  Cabinet         1.990          0.593          -1.110         0              0              0
  58  Cabinet         1.336          0.589          -1.110         0              0              0
  59  StoveBurner     0.250          1.048          -1.399         0              0              0
  60  Toaster         -0.550         1.035          -1.776         0              0              0
  61  Microwave       -1.189         1.624          -1.284         0              0              0
  62  Fridge          -1.286         0.020          1.832          0              90             0
  63  GarbageCan      1.856          -0.019         2.386          0              270            0
  64  LightSwitch     1.016          1.360          2.619          0              180            0
  65  CoffeeMachine   1.929          1.031          0.440          0              270            0
  66  StoveKnob       0.0            1.046          -1.220         0              0              0
  67  StoveKnob       0.090          1.046          -1.220         0              0              0
  68  StoveKnob       0.246          1.046          -1.220         0              0              0
  69  StoveKnob       0.490          1.046          -1.220         0              0              0
  70  StoveKnob       0.389          1.046          -1.220         0              0              0
  71  Faucet          1.277          1.265          0.384          0              90             0
  72  Chair           0.343          0.031          0.976          0              166.747        0
  73  Chair           1.008          0.031          1.034          0              180            0
  74  Chair           1.575          0.031          1.050          0              210.000        0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster. | STEP 2: Pick up the tomato. | STEP 3: Take a step to the left in front of the spoon and knife. | STEP 4: Put down the tomato in between the knife and the spoon. | STEP 5: Pick up the knife. | STEP 6: Slice the tomato. | STEP 7: Put the knife down next to the spoon. | STEP 8: Pick up the tomato. | STEP 9: Turn left and walk to the sink.  Turn right an face the sink. | STEP 10: Put the tomato slice down in the right sink.  Wash the tomato slice by turning the water on.  After the water drains, pick up the tomato slice. | STEP 11: Turn left and walk to the wall.  At the wall, turn left and face the oven.  Look up at the microwave. | STEP 12: Put tomato slice in the microwave to the right of the apple.  Close the door. | END