Task: Warm up a slice of tomato and put it on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          -0.25          0              0              0
   1  Potato          -2.614         0.982          0.704          0              90             0              79
   2  Potato          -0.296         0.100          0.439          0              90             0              75
   3  DishSponge      0.377          0.782          -1.648         0              270            0              69
   4  DishSponge      -0.058         0.772          -1.473         0              0              0              49
   5  ButterKnife     1.289          0.912          -1.571         0              0              0              46
   6  Pot             1.007          0.962          0.561          0              270            0              48
   7  Fork            -2.477         0.952          0.255          0              90             0              79
   8  Spoon           -1.228         0.774          -1.538         0              90             0              59
   9  Spoon           -2.203         0.953          0.345          0              180            0              79
  10  Cup             0.300          0.910          0.292          0              0              0              45
  11  Cup             -2.477         0.950          0.165          0              90             0              79
  12  Knife           -1.928         0.977          0.255          0              90             0              79
  13  Bowl            -0.923         1.014          -1.737         0              0              0              68
  14  SaltShaker      0.332          0.104          -1.584         0              180            0              43
  15  Bread           1.846          0.995          0.540          0              0              0              61
  16  Mug             -2.340         0.947          0.345          0              90             0              79
  17  Bread           1.658          0.995          -1.820         0              0              0              46
  18  Knife           -1.791         0.977          0.435          0              90             0              79
  19  Fork            -2.614         0.952          0.524          0              270            0              79
  20  Bowl            1.754          1.328          -1.772         0              180            0              62
  21  Kettle          -0.055         0.9            0.643          0              0              0              45
  22  Cup             1.830          0.106          0.274          0              0              0              54
  23  Tomato          -2.340         1.001          0.704          0              90             0              79
  24  SoapBottle      -0.544         0.910          -1.820         0              0              0              46
  25  Plate           -0.644         1.329          -1.809         0              180            0              40
  26  Pot             1.361          0.962          0.561          0              270            0              51
  27  Spatula         -0.359         0.927          -1.820         0              90             0              46
  28  PaperTowelRoll  -0.082         1.016          -1.903         0              0              0              46
  29  Egg             -0.096         0.947          0.458          0              0              0              45
  30  Lettuce         1.846          1.002          0.292          0              0              0              61
  31  SaltShaker      -1.791         0.948          0.524          0              90             0              79
  32  PepperShaker    0.167          0.908          0.706          0              0              0              45
  33  Apple           -0.362         0.137          0.569          0              90             0              75
  34  ButterKnife     1.535          0.912          -1.654         0              0              0              46
  35  Potato          -2.047         1.081          -1.720         0              0              0              76
  36  Pan             1.022          0.959          0.288          0              219.190        0              58
  37  DishSponge      -2.477         0.951          0.704          0              90             0              79
  38  Spoon           1.781          0.913          -1.571         0              0              0              46
  39  Mug             0.649          0.914          -1.649         0              270            0              44
  40  Cabinet         -0.193         1.688          -1.648         0              180            0
  41  StoveBurner     1.360          0.957          0.293          0              180            0
  42  Drawer          0.499          0.792          0.296          0              0              0
  43  Cabinet         0.095          0.400          -1.352         0              180            0
  44  Sink            0.711          0.817          -1.772         0              270            0
  45  CounterTop      0.280          0.947          0.458          0              0              0
  46  CounterTop      -0.680         0.947          -1.654         0              0              0
  47  Drawer          1.825          0.792          0.296          0              0              0
  48  StoveBurner     1.007          0.957          0.561          0              270            0
  49  Drawer          -0.150         0.792          -1.496         0              0              0
  50  Drawer          -0.586         0.792          -1.496         0              0              0
  51  StoveBurner     1.360          0.957          0.561          0              270            0
  52  Drawer          0.024          0.792          0.296          0              0              0
  53  Cabinet         1.079          0.400          -1.349         0              180            0
  54  Cabinet         1.669          0.402          0.151          0              0              0
  55  Cabinet         0.055          0.402          -1.351         0              0              0
  56  Cabinet         -0.180         0.402          0.151          0              0              0
  57  Cabinet         0.729          0.402          0.151          0              0              0
  58  StoveBurner     1.007          0.957          0.293          0              180            0
  59  Drawer          -1.100         0.792          -1.496         0              0              0
  60  Cabinet         -0.396         0.402          -1.351         0              0              0
  61  CounterTop      1.776          0.947          0.458          0              0              0
  62  Cabinet         1.974          1.688          -1.648         0              180            0
  63  Cabinet         -0.820         0.400          -1.349         0              180            0
  64  Toaster         0.305          0.900          0.552          0              180            0
  65  LightSwitch     -2.756         1.307          -0.987         0              90             0
  66  Window          0.582          1.613          -1.967         90             0              0
  67  Window          1.969          1.5            -0.615         90             270            0
  68  Microwave       -1.037         0.900          -1.723         0              0              0
  69  SinkBasin       0.377          0.765          -1.655         0              270            0
  70  CoffeeMachine   0.618          0.900          0.600          0              180            0
  71  StoveKnob       1.246          0.913          0.118          45             180            0
  72  StoveKnob       1.373          0.913          0.118          45             180            0
  73  StoveKnob       0.995          0.913          0.118          45             180            0
  74  StoveKnob       1.126          0.913          0.118          45             180            0
  75  GarbageCan      -0.368         -0.029         0.539          0              90             0
  76  Fridge          -2.134         0.0            -1.690         0              0              0
  77  Faucet          0.549          1.046          -1.833         0              232.527        0
  78  Stool           -1.475         0.000          0.414          1.233          280.375        0
  79  DiningTable     -2.255         -0.004         0.432          0              0              0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn right, walk to the window, turn right and walk to the counter. | STEP 2: Pick up the knife closest to the loaf of bread. | STEP 3: Turn right, walk to the wall, turn right and walk to the table. | STEP 4: Slice the tomato sitting on the back of the table next to the green sponge.  | STEP 5: Turn completely around, walk to refrigerator, turn left and walk to the middle of the room.  Turn left so you are facing the waste basket.  | STEP 6: Open the lower cabinet door next to the waste basket, put the knife inside, and close the cabinet door. | STEP 7: Turn left, walk to the wall, turn right and walk to the table.  | STEP 8: Pick up a large slice from the center of the sliced tomato on the table.  | STEP 9: Turn right, move forward a couple of steps, turn right and walk to the microwave.  | STEP 10: Open the microwave door, put the tomato slice inside, close the door, turn on the microwave.  When the microwave turns off, open the door, remove the tomato slice, and close the door.  | STEP 11: Turn right, walk to the wall, turn right and walk to the table.  | STEP 12: Place the tomato slice on the front of the table just below the horizontal spoon.  | END