Task: Cut a slice of tomato, heat it, as well as put the tomato slice in the trash can.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          -0.75          0              90             0
   1  DishSponge      -2.289         0.910          0.631          0              0              0              69
   2  DishSponge      -2.318         0.772          0.534          0              0              0              58
   3  ButterKnife     0.683          0.910          -1.625         0              0              0              51
   4  Kettle          1.411          0.929          0.064          0              0              0              70
   5  Spatula         -2.227         0.788          0.857          0              90             0              46
   6  Spatula         -0.471         0.925          1.764          0              0              0              41
   7  Egg             1.729          0.215          0.596          0              0              0              80
   8  Egg             1.646          0.215          0.706          0              0              0              80
   9  Knife           -2.372         0.936          1.530          0              0              0              72
  10  Knife           -2.289         0.936          1.230          0              90             0              69
  11  Bowl            -2.645         1.534          2.768          0              0              0              45
  12  Bowl            0.301          1.660          -1.729         0              90             0              48
  13  SaltShaker      0.780          0.905          -1.625         0              0              0              51
  14  SaltShaker      0.516          1.658          -1.729         0              90             0              48
  15  Bread           -2.372         0.996          0.931          0              0              0              69
  16  Bread           -2.538         0.996          0.631          0              0              0              69
  17  Apple           -2.570         1.077          2.481          0              90             0              81
  18  Pan             1.691          0.929          0.064          0              0              0              52
  19  Knife           -2.287         0.798          0.022          0              270            0              59
  20  Apple           -2.439         1.362          -0.885         0              90             0              73
  21  Bowl            -0.081         0.908          1.764          0              0              0              41
  22  Fork            1.512          0.911          0.465          0              0              0              50
  23  Bread           -0.211         0.996          1.317          0              0              0              41
  24  Plate           -2.351         0.900          0.054          0              0              0              69
  25  Egg             1.399          0.949          -1.123         0              225            0              55
  26  Kettle          -0.471         0.911          0.423          0              0              0              41
  27  Potato          1.415          0.954          -1.247         0              225            0              55
  28  SaltShaker      -2.605         1.933          -0.634         0              0              0              63
  29  Lettuce         -0.081         0.994          0.647          0              0              0              41
  30  Cup             -2.237         0.112          -0.072         0              0              0              57
  31  SoapBottle      -0.081         0.912          1.317          0              0              0              41
  32  Spatula         -2.455         0.925          1.230          0              0              0              69
  33  PaperTowelRoll  1.769          1.015          0.406          0              0              0              50
  34  ButterKnife     1.488          0.918          -1.104         0              225            0              55
  35  PepperShaker    -2.372         0.905          0.631          0              0              0              69
  36  DishSponge      1.341          0.910          0.406          0              0              0              50
  37  Pot             -2.311         0.105          0.895          0              270            0              67
  38  Spoon           1.770          0.912          -0.684         0              0              0              51
  39  Tomato          1.064          0.953          -1.052         0              45             0              55
  40  Mug             -2.704         0.905          0.031          0              0              0              69
  41  CounterTop      -0.360         0.946          1.093          0              0              0
  42  StoveBurner     1.412          0.923          -0.335         0              0              0
  43  StoveKnob       1.878          1.093          0.018          287.989        90             0
  44  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  45  Cabinet         -2.446         1.948          2.924          0              0              0
  46  Drawer          -2.276         0.792          0.902          0              0              0
  47  Cabinet         -2.145         0.402          1.578          0              0              0
  48  Cabinet         0.149          2.008          -1.603         0              90             0
  49  StoveBurner     1.691          0.923          -0.335         0              0              0
  50  CounterTop      1.585          0.946          0.405          0              0              0
  51  CounterTop      0.474          0.946          -1.625         0              0              0
  52  StoveBurner     1.691          0.923          0.064          0              0              0
  53  Cabinet         -2.446         1.948          1.687          0              0              0
  54  Cabinet         -2.446         1.948          1.640          0              0              0
  55  Sink            1.381          0.810          -1.271         0              225            0
  56  StoveKnob       1.878          1.093          0.150          287.989        90             0
  57  Cabinet         -2.145         0.402          -0.236         0              0              0
  58  Drawer          -2.276         0.792          0.437          0              0              0
  59  Drawer          -2.276         0.792          -0.027         0              0              0
  60  Cabinet         1.572          2.008          0.474          0              0              0
  61  Cabinet         1.572          2.008          -0.775         0              0              0
  62  Cabinet         -2.445         2.148          -1.275         0              0              0
  63  Cabinet         -2.446         2.148          -0.284         0              0              0
  64  Cabinet         -2.446         1.948          0.355          0              0              0
  65  Cabinet         -2.446         1.948          0.405          0              0              0
  66  Cabinet         -2.145         0.402          0.644          0              0              0
  67  Cabinet         -2.145         0.402          0.695          0              0              0
  68  Cabinet         -2.285         1.968          -1.325         0              180            0
  69  CounterTop      -1.485         0.946          1.319          0              0              0
  70  StoveBurner     1.411          0.923          0.064          0              0              0
  71  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  72  Drawer          -2.276         0.792          1.368          0              0              0
  73  Fridge          -2.475         0.0            -0.782         0              90             0
  74  LightSwitch     -0.929         1.350          -1.950         0              0              0
  75  Toaster         -2.564         0.900          1.876          0              90             0
  76  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  77  Window          1.508          1.534          -1.496         90             135            0
  78  Window          1.973          1.521          1.121          90             90             0
  79  SinkBasin       1.149          0.753          -1.380         0              225            0
  80  GarbageCan      1.646          -0.000         0.679          0              0              0
  81  Microwave       -2.580         0.900          2.440          0              90             0
  82  Stool           0.439          0.010          0.747          0              0              0
  83  Stool           -2.303         0.010          1.839          0              0              0
  84  Faucet          1.235          1.138          -1.473         0              225            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Walk to the left of the table and then turn left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk around the kitchen and turn right to face the tomato on the sink. | STEP 4: Cut the tomato into slices. | STEP 5: Walk to the opposite corner of the room and turn left to face the microwave at the end of the counter. | STEP 6: Put the knife into the microwave and close it. | STEP 7: Walk to the opposite corner of the room and face the tomato on the sink. | STEP 8: Pick up a slice of the tomato on the edge of the sink. | STEP 9: Walk to the opposite corner of the room to face the microwave on the counter. | STEP 10: Heat the slice of tomato in the microwave and remove it. | STEP 11: Turn around, walk across the room and turn right to face the trash can. | STEP 12: Put the tomato slice into the trash can. | END