Task: Slice a tomato and put the chilled slice 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           -1.75          0.900          4.0            0              90             0
   1  Pan             0.124          0.142          0.277          0              90             0              69
   2  Potato          1.582          1.027          3.417          0              0              0              60
   3  DishSponge      0.620          0.992          0.578          0              0              0              60
   4  DishSponge      0.815          0.143          0.418          0              0              0              66
   5  ButterKnife     0.735          0.772          0.563          0              0              0              52
   6  ButterKnife     1.348          0.771          3.291          0              0              0              53
   7  Kettle          -0.029         0.761          6.172          0              135            0              96
   8  Pot             1.32           0.988          3.848          0              0              0              59
   9  Spatula         -0.003         0.775          6.479          0              180            0              96
  10  Spatula         1.387          0.905          2.188          0              270            0              83
  11  Fork            0.124          0.772          0.507          0              0              0              57
  12  Plate           1.406          0.141          1.864          0              0              0              49
  13  Tomato          0.102          0.809          6.305          0              135            0              96
  14  Tomato          -0.159         0.809          6.787          0              0              0              96
  15  SoapBottle      2.154          0.080          6.498          0              270            0              84
  16  SoapBottle      1.143          0.141          4.724          0              0              0              62
  17  Bowl            1.445          2.206          3.747          0              0              0              51
  18  PepperShaker    1.657          0.135          3.069          0              0              0              71
  19  PepperShaker    -0.531         0.755          6.763          0              135            0              96
  20  SaltShaker      1.455          1.571          4.572          0              0              0              64
  21  Mug             1.135          0.987          4.716          0              0              0              61
  22  Mug             -0.289         0.755          6.786          0              135            0              96
  23  Apple           2.137          1.590          5.626          0              270            0              82
  24  Apple           2.051          1.590          5.876          0              270            0              82
  25  Bowl            0.257          0.759          6.719          0              225            0              96
  26  Bread           1.099          1.048          0.434          0              0              0              60
  27  Egg             2.009          1.565          6.001          0              270            0              82
  28  Knife           1.493          1.022          3.137          0              0              0              60
  29  Fork            1.314          0.993          3.231          0              0              0              60
  30  Apple           -0.049         0.834          6.588          0              225            0              96
  31  Kettle          0.745          0.144          0.260          0              0              0              66
  32  Plate           1.406          0.141          3.365          0              0              0              71
  33  SaltShaker      1.657          0.135          2.646          0              0              0              72
  34  Lettuce         1.314          1.081          0.213          0              0              0              60
  35  SoapBottle      0.847          0.992          0.120          0              90             0              60
  36  Spatula         0.871          0.787          0.395          0              90             0              52
  37  PaperTowelRoll  0.028          0.864          6.014          0              0              0              96
  38  Pot             1.562          0.988          3.848          0              0              0              54
  39  Potato          1.966          1.550          5.376          0              270            0              82
  40  ButterKnife     1.582          0.992          3.324          0              0              0              60
  41  PepperShaker    -0.034         0.755          6.787          0              0              0              96
  42  Pan             1.559          0.988          4.294          0              0              0              58
  43  Tomato          2.055          0.130          6.439          0              0              0              84
  44  DishSponge      0.256          0.759          6.240          0              135            0              96
  45  Cup             0.064          1.093          0.278          0              0              0              76
  46  Spoon           -0.377         0.761          6.261          0              225            0              96
  47  Mug             2.137          1.510          5.251          0              270            0              82
  48  Cabinet         1.307          2.455          4.360          0              0              0
  49  Cabinet         1.054          0.422          1.710          0              0              0
  50  Drawer          1.280          0.808          4.718          0              0              0
  51  Cabinet         1.307          2.455          3.607          0              0              0
  52  Drawer          0.736          0.802          0.521          0              0              0
  53  Drawer          1.276          0.802          3.291          0              0              0
  54  StoveBurner     1.562          0.982          3.848          0              0              0
  55  StoveBurner     1.317          0.982          4.294          0              0              0
  56  Drawer          -0.482         0.802          0.521          0              0              0
  57  Drawer          0.124          0.802          0.521          0              0              0
  58  StoveBurner     1.559          0.982          4.294          0              0              0
  59  StoveBurner     1.320          0.982          3.848          0              0              0
  60  CounterTop      1.391          1.028          0.897          0              0              0
  61  CounterTop      1.391          1.028          4.716          0              0              0
  62  Cabinet         1.054          0.422          4.548          0              0              0
  63  Cabinet         1.317          2.134          0.517          0              0              0
  64  Cabinet         1.317          2.134          4.889          0              0              0
  65  Cabinet         1.317          2.134          3.095          0              0              0
  66  Cabinet         0.443          0.422          0.743          0              0              0
  67  Cabinet         1.270          2.134          0.434          0              0              0
  68  Cabinet         -0.775         0.422          0.743          0              0              0
  69  Cabinet         -0.168         0.422          0.743          0              0              0
  70  Cabinet         1.317          2.134          1.534          0              0              0
  71  Cabinet         1.054          0.422          2.990          0              0              0
  72  Cabinet         1.054          0.422          2.944          0              0              0
  73  Cabinet         -0.263         2.134          0.434          0              0              0
  74  Cabinet         0.252          2.134          0.434          0              0              0
  75  Sink            1.391          1.006          2.326          0              0              0
  76  Microwave       0.108          0.981          0.262          0              0              0
  77  HousePlant      -0.165         0.826          6.444          0              0              0
  78  CoffeeMachine   1.551          0.982          0.953          0              270            0
  79  Toaster         1.473          0.981          4.715          0              270            0
  80  Window          -2.065         1.916          3.626          90             90             0
  81  Window          1.763          2.007          2.299          90             270            0
  82  Fridge          2.035          0.0            5.625          0              0              0
  83  SinkBasin       1.387          0.880          2.338          0              90             0
  84  GarbageCan      2.001          -0.044         6.503          0              0              0
  85  StoveKnob       1.140          0.934          3.987          45             270            0
  86  StoveKnob       1.140          0.934          4.309          45             270            0
  87  StoveKnob       1.140          0.934          4.140          45             270            0
  88  StoveKnob       1.140          0.934          3.824          45             270            0
  89  Vase            -0.226         0.834          6.993          0              0              0
  90  Vase            2.098          0.043          7.070          0              257.232        0
  91  Vase            -0.594         0.835          6.130          0              225            0
  92  LightSwitch     -2.0           1.549          6.045          0              90             0
  93  Safe            2.046          1.072          7.054          0              257.232        0
  94  Faucet          1.534          1.025          2.371          0              294.391        0
  95  Blinds          1.738          2.563          2.312          0              90             0
  96  DiningTable     -0.156         0.000          6.474          0              0              0
  97  Chair           0.291          0.002          6.142          0              310.162        0
  98  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Move to the right and forward to stand in front of the sink to the left of the sink. | STEP 2: Pick the larger knife on the right up from the counter. | STEP 3: Go left and then turn to the left to face the round, black table. | STEP 4: Slice the tomato on the table. | STEP 5: Put the knife down on the table. | STEP 6: Pick up a slice of tomato from the table. | STEP 7: Turn around and stand in front of the fridge. | STEP 8: Put the tomato slice in the fridge and shut the door and then open the door, take the tomato slice out and shut the door again. | STEP 9: Go right and cross the room to face the microwave. | STEP 10: Put the tomato slice in the microwave and shut the door. | END