Task: Slice a tomato, microwave a slice, place the slice in the gray bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.901          -0.75          0              0              0
   1  WineBottle      -0.078         0.082          2.129          0              0              0              48
   2  WineBottle      -0.263         0.038          -0.769         0              90             0              76
   3  DishSponge      1.872          0.746          0.721          0              0              0              63
   4  DishSponge      0.032          0.080          2.129          0              0              0              61
   5  ButterKnife     -0.349         0.791          1.049          0              0              0              81
   6  Spatula         -0.425         0.805          0.713          0              90             0              81
   7  Spatula         -0.053         0.952          2.478          0              180            0              54
   8  Spoon           1.919          0.747          2.197          0              0              0              69
   9  Fork            -0.119         0.791          0.545          0              270            0              81
  10  Cup             -0.395         1.034          2.068          0              90             0              79
  11  Cup             1.276          0.793          2.64           0              0              0              78
  12  Plate           1.925          0.086          2.057          0              0              0              50
  13  Knife           1.850          0.772          2.197          0              270            0              69
  14  Knife           -0.042         0.816          1.386          0              0              0              81
  15  Tomato          2.207          0.648          -0.550         0              270            0              75
  16  Tomato          2.231          1.565          -0.550         0              270            0              75
  17  Tomato          0.174          0.983          2.897          0              0              0              54
  18  Bowl            2.168          1.318          -0.278         0              270            0              75
  19  SaltShaker      2.225          0.933          0.806          0              0              0              65
  20  PepperShaker    1.994          0.933          0.361          0              0              0              65
  21  PepperShaker    2.206          1.496          2.057          0              0              0              57
  22  Lettuce         -0.042         0.852          0.545          0              0              0              81
  23  Egg             2.076          1.561          -0.550         0              270            0              75
  24  Lettuce         0.033          0.852          0.881          0              0              0              81
  25  Fork            -0.042         0.791          1.049          0              0              0              81
  26  SoapBottle      1.227          0.082          2.445          0              0              0              60
  27  Ladle           1.369          0.125          2.523          0              0              0              60
  28  Ladle           -0.096         0.942          2.546          6.888          45             340.409        54
  29  Bread           -0.199         0.823          0.813          0              0              0              81
  30  SaltShaker      -0.349         0.785          0.713          0              0              0              81
  31  Potato          1.276          0.835          2.529          0              270            0              78
  32  Pan             2.140          0.935          1.504          0              180            0              49
  33  WineBottle      2.244          1.502          2.425          0              0              0              47
  34  Spatula         -0.349         0.805          1.217          0              180            0              81
  35  Knife           1.815          0.771          2.060          0              90             0              69
  36  Tomato          0.033          0.837          1.049          0              0              0              81
  37  Apple           -0.395         1.085          1.907          0              90             0              79
  38  ButterKnife     1.997          0.937          1.964          0              0              0              54
  39  Pot             1.854          0.937          1.497          0              0              0              58
  40  PepperShaker    1.805          1.498          2.881          0              0              0              55
  41  Cup             -0.396         0.935          2.688          0              0              0              54
  42  DishSponge      1.954          0.746          2.060          0              0              0              69
  43  Plate           -0.312         0.781          0.409          0              0              0              81
  44  Spoon           -0.272         0.792          1.386          0              0              0              81
  45  Mug             2.064          0.989          2.462          0              225            0              80
  46  Bowl            2.241          1.500          0.695          0              0              0              62
  47  Cabinet         2.041          2.113          2.618          0              0              0
  48  Cabinet         0.126          0.388          1.774          0              0              0
  49  StoveBurner     2.140          0.929          1.504          0              180            0
  50  Cabinet         1.760          0.388          2.346          0              0              0
  51  Cabinet         1.760          0.388          0.869          0              0              0
  52  Cabinet         2.041          1.810          0.283          0              0              0
  53  Drawer          -0.024         0.774          2.061          0              0              0
  54  CounterTop      1.065          0.973          2.666          0              0              0
  55  Cabinet         1.969          2.113          2.618          0              0              0
  56  StoveBurner     2.140          0.929          1.106          0              0              0
  57  Cabinet         2.041          2.113          1.809          0              0              0
  58  StoveBurner     1.866          0.929          1.504          0              180            0
  59  Cabinet         2.041          2.113          1.766          0              0              0
  60  Cabinet         1.514          0.388          2.360          0              0              0
  61  Cabinet         0.351          0.388          2.360          0              0              0
  62  Cabinet         2.041          1.810          0.872          0              0              0
  63  Drawer          2.167          0.774          0.582          0              0              0
  64  Cabinet         2.041          2.113          0.892          0              0              0
  65  CounterTop      2.060          0.973          0.583          0              0              0
  66  Sink            0.935          0.936          2.646          0              0              0
  67  Curtains        0.964          2.061          2.989          0              0              0
  68  StoveBurner     1.863          0.929          1.106          0              0              0
  69  Drawer          1.911          0.774          2.060          0              0              0
  70  StoveKnob       2.326          1.092          1.610          288.013        90             0
  71  StoveKnob       2.326          1.092          1.460          288.013        90             0
  72  StoveKnob       2.326          1.092          1.210          288.013        90             0
  73  StoveKnob       2.326          1.092          1.050          288.013        90             0
  74  Toaster         2.126          0.926          0.572          0              270            0
  75  Fridge          2.104          0.0            -0.279         0              270            0
  76  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  77  LightSwitch     0.354          1.518          -1.031         0              0              0
  78  SinkBasin       0.903          0.784          2.640          0              0              0
  79  Microwave       -0.310         0.926          2.077          0              90             0
  80  CoffeeMachine   2.084          0.927          2.667          0              225            0
  81  DiningTable     -0.153         -0.000         1.073          0              270            0
  82  Faucet          1.175          0.926          2.950          270            90             0
  83  Faucet          0.686          0.926          2.950          270            90             0
  84  Chair           -0.077         0.002          0.196          0              15.000         0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Walk to, and stand in front of, the white table on the left side of the room. | STEP 2: Stand in front of the head of lettuce and the tomato. | STEP 3: Pick up the knife that is closest to the wall behind the tomato. | STEP 4: Slice the tomato into sections. | STEP 5: Turn around and face the opposite wall from the white table. | STEP 6: Open the door of the cupboard to the right of the stove, place the knife on the left front bottom of the cupboard, close the cupboard door. | STEP 7: Turn around and go to the white table. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn to your right and walk to stand in front of the microwave. | STEP 10: Open the microwave door, place the tomato slice on the plate in the microwave, close the door, turn the microwave on, and after it is done heating the tomato, open the door, pick up the tomato slice, close the microwave door. | STEP 11: Turn to your left and walk in the direction of the kitchen door, hang a right to face the gray bin located to the right of the door. | STEP 12: Place the tomato slice in the bin. | END