Task: Place a heated slice of tomato on a counter and store a knife in a 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          0.900          2.5            0              0              0
   1  Potato          -2.877         0.960          1.231          0              90             0              66
   2  Potato          -2.744         0.960          1.337          0              90             0              66
   3  DishSponge      -2.581         0.823          0.625          0              0              0              47
   4  Spoon           -1.217         0.699          0.410          0              90             0              51
   5  Spoon           -1.374         0.824          0.518          0              0              0              47
   6  Spatula         -0.092         0.838          1.326          0              0              0              47
   7  Spatula         -2.658         0.838          0.707          0              180            0              47
   8  Cup             -2.837         0.825          2.309          0              90             0              65
   9  Cup             -2.501         1.849          2.368          0              0              0              57
  10  Knife           -1.876         0.849          0.539          0              0              0              47
  11  Tomato          -2.782         1.193          2.221          0              90             0              65
  12  SoapBottle      -0.477         0.821          0.770          0              0              0              47
  13  SoapBottle      -2.840         0.821          0.278          0              0              0              47
  14  Bowl            -2.784         1.431          0.293          0              45             0              53
  15  SaltShaker      -2.724         0.818          0.278          0              270            0              47
  16  SaltShaker      -2.687         0.116          1.471          0              0              0              58
  17  Mug             -0.147         0.818          0.426          0              0              0              47
  18  Apple           -2.491         0.896          0.129          0              0              0              47
  19  Apple           -0.362         0.129          2.674          0              90             0              67
  20  Fork            -1.214         0.813          0.498          0              0              0              47
  21  Ladle           -0.371         0.738          0.879          0              45             0              49
  22  Pan             -0.244         0.829          1.684          0              0              0              46
  23  SoapBottle      -0.262         0.054          2.539          0              0              0              67
  24  Pot             -0.531         0.822          2.096          0              0              0              44
  25  Tomato          -2.813         0.873          0.789          0              0              0              47
  26  Potato          -1.481         0.736          0.210          0              0              0              74
  27  SaltShaker      -0.817         0.818          0.500          0              0              0              47
  28  Plate           -1.580         0.130          0.401          0              0              0              60
  29  Spatula         -0.341         0.696          1.194          0              45             0              43
  30  Knife           -2.658         0.849          0.871          0              180            0              47
  31  Egg             -2.877         0.945          1.390          0              90             0              66
  32  Cup             -2.726         0.825          1.957          0              90             0              65
  33  ButterKnife     -2.608         0.823          0.203          0              0              0              47
  34  Lettuce         -1.836         0.741          0.238          0              55.910         0              74
  35  PepperShaker    -0.147         0.818          0.278          0              0              0              47
  36  DishSponge      -2.115         0.124          0.323          0              0              0              59
  37  Bread           -0.979         0.855          0.249          0              29.999         0              47
  38  Spoon           -0.860         0.712          0.445          0              270            0              50
  39  Mug             -0.646         0.888          0.367          0              0              0              75
  40  Bowl            -2.781         1.442          2.133          0              90             0              65
  41  Cabinet         -2.377         2.015          1.720          0              0              0
  42  StoveBurner     -0.244         0.820          2.075          0              180            0
  43  Drawer          -0.402         0.703          1.252          0              0              0
  44  StoveBurner     -0.518         0.820          2.075          0              180            0
  45  Sink            -1.838         0.726          0.343          0              180            0
  46  StoveBurner     -0.244         0.820          1.684          0              0              0
  47  CounterTop      -1.557         0.859          0.277          0              0              0
  48  StoveBurner     -0.518         0.820          1.684          0              0              0
  49  Drawer          -0.404         0.704          0.912          0              0              0
  50  Drawer          -0.861         0.709          0.420          0              0              0
  51  Drawer          -1.133         0.706          0.418          0              0              0
  52  Drawer          -2.589         0.703          1.511          0              0              0
  53  Cabinet         -2.772         1.803          0.508          0              0              0
  54  Cabinet         -2.460         1.803          0.231          0              0              0
  55  Cabinet         -2.781         1.798          0.825          0              0              0
  56  Cabinet         -2.781         1.798          0.815          0              0              0
  57  Cabinet         -2.377         2.009          2.581          0              0              0
  58  Cabinet         -2.442         0.385          1.672          0              0              0
  59  Cabinet         -2.238         0.385          0.564          0              0              0
  60  Cabinet         -1.286         0.385          0.564          0              0              0
  61  Cabinet         -1.262         0.385          0.565          0              0              0
  62  Cabinet         -0.734         0.385          0.565          0              0              0
  63  Cabinet         -0.549         0.385          0.751          0              0              0
  64  Cabinet         -0.549         0.385          1.412          0              0              0
  65  Fridge          -2.782         0.0            2.221          0              0              0
  66  Microwave       -2.794         0.812          1.348          0              90             0
  67  GarbageCan      -0.329         2.205          2.606          0              0              0
  68  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  69  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  70  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  71  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  72  Window          -1.720         1.342          -0.208         90             0              0
  73  Toaster         -0.171         0.812          0.735          0              270            0
  74  SinkBasin       -1.745         0.687          0.295          0              0              0
  75  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  76  LightSwitch     -0.615         1.378          3.0            0              180            0
  77  Faucet          -1.686         0.954          0.176          0              236.223        0
  78  Stool           -1.008         0.008          1.955          0              18.279         0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn around, take a right at the sink and walk to the counter. | STEP 2: Pick up the knife with the yellow handle to the right of the spatula on the counter. | STEP 3: Slice the tomato on the back area of the counter to the right of the silver bowl. | STEP 4: Turn right and walk to the microwave on the left. | STEP 5: Put the knife inside the microwave and close the door. | STEP 6: Turn left and walk to the counter on the right. | STEP 7: Pick up a slice of tomato from the counter. | STEP 8: Turn right and walk to the microwave on the left. | STEP 9: Put the slice of tomato in the microwave, heat it, remove it and close the door. | STEP 10: Turn left to face the sink. | STEP 11: Put the heated slice of tomato on the edge of the counter in front of the right side of the sink. | END