Task: Slice a tomato, put in the fridge and 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           -1.0           0.900          7.25           0              180            0
   1  Potato          1.966          1.550          6.001          0              270            0              84
   2  DishSponge      0.897          1.579          0.207          0              0              0              69
   3  DishSponge      0.380          1.579          0.251          0              0              0              76
   4  Kettle          1.228          0.142          4.724          0              0              0              64
   5  Pot             1.32           0.988          3.848          0              0              0              61
   6  Pot             1.562          0.988          3.848          0              0              0              56
   7  Spoon           -0.481         0.772          0.507          0              0              0              58
   8  Spoon           -0.011         0.772          0.563          0              0              0              59
   9  Spatula         1.292          0.786          3.291          0              0              0              55
  10  Spatula         -0.400         0.775          6.503          0              315            0              98
  11  Fork            -0.096         0.760          6.787          0              0              0              98
  12  Fork            -0.621         0.760          6.416          0              270            0              98
  13  Egg             1.276          0.940          1.983          0              90             0              85
  14  Cup             1.135          0.988          4.624          0              0              0              63
  15  Cup             1.442          0.886          2.034          0              90             0              85
  16  SoapBottle      1.907          0.080          6.439          0              0              0              86
  17  SoapBottle      0.150          0.760          6.541          0              270            0              98
  18  Bowl            1.489          2.206          3.840          0              0              0              53
  19  Bowl            1.543          1.576          1.410          0              0              0              72
  20  PepperShaker    1.404          2.202          4.131          0              0              0              66
  21  PepperShaker    1.490          0.135          2.572          0              0              0              74
  22  SaltShaker      1.582          0.987          0.213          0              0              0              62
  23  SaltShaker      0.620          0.987          0.578          0              0              0              62
  24  Mug             0.221          1.092          0.310          0              270            0              78
  25  Mug             0.147          0.755          6.349          0              135            0              98
  26  Apple           0.305          0.834          6.604          0              270            0              98
  27  Bowl            -0.014         0.143          0.429          0              0              0              71
  28  Bread           1.099          1.048          0.434          0              0              0              62
  29  Egg             -0.158         0.810          6.604          0              270            0              98
  30  Knife           -0.422         0.789          6.653          0              135            0              98
  31  Fork            0.803          0.772          0.395          0              90             0              54
  32  Apple           -0.006         0.834          6.414          0              135            0              98
  33  Kettle          1.593          0.981          3.25           0              255.000        0              62
  34  Plate           0.847          0.993          0.578          0              0              0              62
  35  SaltShaker      1.135          0.987          4.853          0              0              0              63
  36  Lettuce         -0.535         1.081          0.578          0              0              0              62
  37  SoapBottle      0.501          1.579          0.163          0              0              0              76
  38  Spatula         0.803          0.787          0.563          0              0              0              54
  39  PaperTowelRoll  0.544          1.096          0.578          0              0              0              62
  40  Pot             1.317          0.988          4.294          0              0              0              57
  41  Potato          0.064          1.132          0.245          0              0              0              78
  42  ButterKnife     0.305          0.760          6.416          0              270            0              98
  43  PepperShaker    0.958          1.574          0.339          0              0              0              76
  44  Pan             1.313          0.985          4.284          0              0              0              57
  45  Tomato          0.028          0.809          6.014          0              0              0              98
  46  DishSponge      1.406          0.140          2.424          0              0              0              74
  47  Cup             2.094          1.511          5.876          0              270            0              84
  48  Spoon           -0.611         0.993          0.578          0              0              0              62
  49  Mug             -0.275         0.139          0.506          0              0              0              70
  50  Cabinet         1.307          2.455          4.360          0              0              0
  51  Cabinet         1.054          0.422          1.710          0              0              0
  52  Drawer          1.280          0.808          4.718          0              0              0
  53  Cabinet         1.307          2.455          3.607          0              0              0
  54  Drawer          0.736          0.802          0.521          0              0              0
  55  Drawer          1.276          0.802          3.291          0              0              0
  56  StoveBurner     1.562          0.982          3.848          0              0              0
  57  StoveBurner     1.317          0.982          4.294          0              0              0
  58  Drawer          -0.482         0.802          0.521          0              0              0
  59  Drawer          0.124          0.802          0.521          0              0              0
  60  StoveBurner     1.559          0.982          4.294          0              0              0
  61  StoveBurner     1.320          0.982          3.848          0              0              0
  62  CounterTop      1.391          1.028          0.897          0              0              0
  63  CounterTop      1.391          1.028          4.716          0              0              0
  64  Cabinet         1.054          0.422          4.548          0              0              0
  65  Cabinet         1.317          2.134          0.517          0              0              0
  66  Cabinet         1.317          2.134          4.889          0              0              0
  67  Cabinet         1.317          2.134          3.095          0              0              0
  68  Cabinet         0.443          0.422          0.743          0              0              0
  69  Cabinet         1.270          2.134          0.434          0              0              0
  70  Cabinet         -0.775         0.422          0.743          0              0              0
  71  Cabinet         -0.168         0.422          0.743          0              0              0
  72  Cabinet         1.317          2.134          1.534          0              0              0
  73  Cabinet         1.054          0.422          2.990          0              0              0
  74  Cabinet         1.054          0.422          2.944          0              0              0
  75  Cabinet         -0.263         2.134          0.434          0              0              0
  76  Cabinet         0.252          2.134          0.434          0              0              0
  77  Sink            1.391          1.006          2.326          0              0              0
  78  Microwave       0.108          0.981          0.262          0              0              0
  79  HousePlant      -0.165         0.826          6.444          0              0              0
  80  CoffeeMachine   1.551          0.982          0.953          0              270            0
  81  Toaster         1.473          0.981          4.715          0              270            0
  82  Window          -2.065         1.916          3.626          90             90             0
  83  Window          1.763          2.007          2.299          90             270            0
  84  Fridge          2.035          0.0            5.625          0              0              0
  85  SinkBasin       1.387          0.880          2.338          0              90             0
  86  GarbageCan      2.001          -0.044         6.503          0              0              0
  87  StoveKnob       1.140          0.934          3.987          45             270            0
  88  StoveKnob       1.140          0.934          4.309          45             270            0
  89  StoveKnob       1.140          0.934          4.140          45             270            0
  90  StoveKnob       1.140          0.934          3.824          45             270            0
  91  Vase            -0.226         0.834          6.993          0              0              0
  92  Vase            2.098          0.043          7.070          0              257.232        0
  93  Vase            -0.594         0.835          6.130          0              225            0
  94  LightSwitch     -2.0           1.549          6.045          0              90             0
  95  Safe            2.046          1.072          7.054          0              257.232        0
  96  Faucet          1.534          1.025          2.371          0              294.391        0
  97  Blinds          1.738          2.563          2.312          0              90             0
  98  DiningTable     -0.156         0.000          6.474          0              0              0
  99  Chair           0.291          0.002          6.142          0              310.162        0
 100  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Go forward, turn left after the table and go to the other side of the table.  | STEP 2: Pick up the knife next to the apple.  | STEP 3: Go the left side of the table. | STEP 4: Slice the tomato on the table.  | STEP 5: Turn right and go in front of the fridge.  | STEP 6: Open the fridge door and put the knife on the top shelf.  | STEP 7: Turn around and go in front of the table where the tomato is.  | STEP 8: Pick up a slice of the tomato.  | STEP 9: Turn right and go in front of the fridge.  | STEP 10: Open the fridge door and put the tomato on the top shelf to the right of the knife, shut the door and then remove the tomato slice.  | STEP 11: Go to the right to the end of the room to the microwave.  | STEP 12: Put the tomato into the microwave.  | END