Task: To clean a slice of tomato plus store it in 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           -0.25          0.930          1.0            0              180            0
   1  Pan             -0.935         0.899          0.399          0              0              0              66
   2  Potato          3.111          0.785          -0.034         0              90             0              111
   3  DishSponge      3.029          0.712          -0.361         0              180            0              62
   4  DishSponge      0.017          0.899          -1.239         0              45             0              87
   5  Kettle          3.102          1.465          -1.284         0              0              0              80
   6  Kettle          3.198          0.176          -0.786         0              0              0              78
   7  Pot             1.491          0.908          0.464          0              0              0              97
   8  Spatula         0.022          0.915          -1.731         0              90             0              87
   9  Spatula         0.605          0.925          0.218          0              36.810         0              97
  10  Spoon           3.070          0.748          0.165          0              90             0              111
  11  Fork            -0.868         0.518          0.839          0              0              0              63
  12  Fork            -1.015         0.900          -0.719         0              135            0              66
  13  CellPhone       3.122          0.898          -0.599         0              0              0              65
  14  Mug             0.773          1.068          -1.475         0              0              0              112
  15  Mug             3.049          0.966          0.591          0              270            0              109
  16  Apple           3.044          0.974          -0.897         0              0              0              65
  17  Apple           -0.038         0.974          -1.388         0              45             0              87
  18  SaltShaker      -1.121         0.896          -0.715         0              45             0              66
  19  SaltShaker      -0.950         0.322          -0.098         0              0              0              71
  20  Tomato          1.164          0.750          -1.354         0              0              0              112
  21  Tomato          2.888          0.937          0.870          0              0              0              65
  22  Tomato          1.086          0.750          -1.459         0              0              0              112
  23  Egg             0.101          0.952          -1.516         0              0              0              87
  24  Cup             0.856          1.672          -1.550         0              0              0              81
  25  Knife           -0.778         0.925          -0.647         0              135            0              66
  26  Knife           -0.960         0.925          -0.774         0              135            0              66
  27  Plate           3.028          0.190          0.770          0              0              0              75
  28  Glassbottle     -0.336         0.901          -1.501         0              45             0              87
  29  SoapBottle      0.204          1.268          -1.707         0              0              0              82
  30  Potato          3.152          0.785          0.098          0              90             0              111
  31  Fork            -0.991         0.518          1.255          0              90             0              54
  32  Ladle           -0.880         0.937          -0.850         0              135            0              66
  33  Pot             -0.420         0.902          -0.920         0              135            0              61
  34  Kettle          3.028          0.176          -0.453         0              0              0              77
  35  Spatula         -0.786         0.721          0.401          0              90             0              70
  36  Knife           3.354          0.926          -0.151         0              90             0              65
  37  Lettuce         1.622          0.973          0.747          0              0              0              97
  38  Cup             -1.052         0.995          1.470          0              90             0              114
  39  SaltShaker      3.140          0.173          0.489          0              0              0              75
  40  Egg             -1.018         1.050          1.311          0              90             0              114
  41  PepperShaker    -0.786         0.703          1.168          0              0              0              59
  42  ButterKnife     0.258          0.900          -1.660         0              0              0              87
  43  Apple           0.798          0.981          0.827          0              0              0              97
  44  Pan             -1.008         0.899          -0.047         0              270            0              66
  45  Bread           0.836          0.989          0.410          0              36.810         0              97
  46  CellPhone       -0.868         0.323          1.168          0              0              0              54
  47  DishSponge      -0.786         0.130          1.518          0              0              0              90
  48  Tomato          3.200          0.937          -0.897         0              0              0              65
  49  Spoon           3.111          0.748          0.032          0              0              0              111
  50  Bowl            0.611          0.908          0.457          0              36.810         0              97
  51  Mug             3.253          0.172          0.489          0              0              0              75
  52  Drawer          0.376          0.572          -1.509         0              0              0
  53  Drawer          3.020          0.769          -0.783         0              180            0
  54  Drawer          -0.860         0.577          1.429          0              0              0
  55  StoveBurner     -0.600         0.897          -1.090         0              135            0
  56  Drawer          0.376          0.191          -1.509         0              0              0
  57  Cabinet         1.402          1.874          -1.259         0              0              0
  58  Cabinet         -0.202         1.963          -1.328         0              0              0
  59  Drawer          -0.860         0.765          1.429          0              0              0
  60  Drawer          -0.677         0.765          -0.700         0              0              0
  61  StoveBurner     -0.420         0.897          -0.920         0              135            0
  62  Drawer          3.020          0.769          -0.407         0              180            0
  63  Drawer          -0.860         0.577          0.663          0              0              0
  64  Cabinet         2.819          1.768          -1.850         0              0              0
  65  CounterTop      3.111          0.936          0.019          0              0              0
  66  CounterTop      -1.007         0.935          -0.039         0              0              0
  67  Drawer          -0.860         0.385          0.663          0              0              0
  68  StoveBurner     -0.419         0.897          -1.269         0              315            0
  69  Drawer          -0.047         0.573          -1.324         0              0              0
  70  Drawer          -0.860         0.765          0.663          0              0              0
  71  Drawer          -0.860         0.385          -0.100         0              0              0
  72  Drawer          0.376          0.380          -1.509         0              0              0
  73  Drawer          -0.860         0.765          -0.100         0              0              0
  74  Drawer          0.376          0.765          -1.509         0              0              0
  75  Cabinet         2.849          0.419          0.409          0              0              0
  76  Drawer          -0.047         0.765          -1.324         0              0              0
  77  Cabinet         2.849          0.419          -0.610         0              0              0
  78  Cabinet         2.849          0.419          -0.959         0              0              0
  79  Cabinet         3.069          1.666          -0.709         0              0              0
  80  Cabinet         2.819          1.768          -1.047         0              0              0
  81  Cabinet         0.620          1.874          -1.259         0              0              0
  82  Cabinet         0.140          1.666          -1.559         0              0              0
  83  Cabinet         -0.189         1.666          -1.340         0              0              0
  84  Cabinet         -0.709         1.963          -0.819         0              0              0
  85  Cabinet         -0.920         1.665          -0.620         0              0              0
  86  Drawer          -0.860         0.190          -0.100         0              0              0
  87  CounterTop      0.133          0.935          -1.457         0              0              0
  88  Drawer          3.020          0.769          0.695          0              180            0
  89  Drawer          -0.677         0.577          -0.700         0              0              0
  90  Drawer          -0.860         0.190          1.429          0              0              0
  91  Drawer          -0.047         0.192          -1.324         0              0              0
  92  Drawer          -0.677         0.193          -0.700         0              0              0
  93  Drawer          -0.860         0.577          -0.100         0              0              0
  94  Sink            3.078          0.887          0.086          0              0              0
  95  StoveBurner     -0.239         0.897          -1.089         0              315            0
  96  Drawer          -0.860         0.190          0.663          0              0              0
  97  CounterTop      1.210          0.937          0.463          0              0              0
  98  Drawer          -0.047         0.381          -1.324         0              0              0
  99  Drawer          -0.677         0.387          -0.700         0              0              0
 100  Mirror          -1.295         1.630          0.045          0              0              0
 101  Drawer          -0.860         0.385          1.429          0              0              0
 102  HousePlant      3.196          0.891          -0.368         0              0              0
 103  StoveKnob       -0.090         0.790          -1.009         270            45             0
 104  StoveKnob       -0.280         0.790          -0.819         270            45             0
 105  StoveKnob       -0.180         0.790          -0.920         270            45             0
 106  StoveKnob       -0.370         0.790          -0.720         270            45             0
 107  GarbageCan      3.137          0.025          1.545          0              225            0
 108  Window          3.703          1.675          0.046          90             90             0
 109  CoffeeMachine   3.214          0.890          0.697          0              270            0
 110  LightSwitch     2.592          1.309          -1.880         0              0              0
 111  SinkBasin       3.069          0.736          0.108          0              90             0
 112  Fridge          1.008          0.029          -1.467         0              0              0
 113  Toaster         -1.035         0.873          -0.396         0              90             0
 114  Microwave       -1.034         0.874          1.428          0              90             0
 115  Faucet          3.305          0.886          0.094          270            180            0
 116  NorthWall
 117  EastWall
 118  SouthWall
 119  WestWall

Plan:
STEP 1: Turn left and walk forward to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and walk forward to face the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Walk around the room to face the microwave. | STEP 6: Place the knife in the microwave. | STEP 7: Walk around the room to face the sliced tomato on the counter. | STEP 8: Pick up a slice of tomato on the counter. | STEP 9: Take a step to the left to face the sink. | STEP 10: Wash the tomato slice in the sink and then remove it. | STEP 11: Walk around the room to face the microwave. | STEP 12: Place the tomato in the microwave. | END