Task: Slice tomato in sink, heat in microwave, move tomato slice to refrigerator.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          -0.5           0              180            0
   1  Statue          -0.849         0.920          0.030          0              0              0              77
   2  Statue          0.008          0.920          0.241          0              180            0              77
   3  Ladle           -0.849         0.950          0.241          0              0              0              77
   4  ButterKnife     -1.322         0.911          -1.469         0              0              0              84
   5  Kettle          -1.080         0.914          -0.353         0              0              0              77
   6  Kettle          -1.056         0.956          -0.672         0              180            0              56
   7  Pot             -1.289         0.957          -1.02          0              0              0              74
   8  Spatula         -0.186         0.711          0.098          0              90             0              83
   9  Spatula         -0.691         0.709          -1.979         0              90             0              54
  10  Fork            0.008          0.914          0.030          0              0              0              77
  11  Spoon           -0.252         0.698          0.222          0              270            0              83
  12  Spoon           -0.759         0.693          -1.846         0              90             0              54
  13  Egg             -1.330         0.947          -0.109         0              0              0              77
  14  Egg             1.781          1.132          -0.830         0              270            0              91
  15  Knife           -1.045         1.155          0.529          0              0              0              80
  16  Tomato          -1.322         0.960          -1.806         0              0              0              84
  17  Tomato          -0.031         0.812          -1.897         0              0              0              94
  18  SaltShaker      -0.420         0.909          0.241          0              0              0              77
  19  PepperShaker    -0.897         0.907          -1.760         0              0              0              84
  20  PepperShaker    2.798          0.548          0.245          0              180            0              90
  21  Bread           1.945          0.899          -0.737         0              270            0              91
  22  Mug             1.813          1.010          -1.192         0              270            0              89
  23  Mug             0.501          0.955          -1.900         0              0              0              100
  24  Apple           1.836          1.476          -0.737         0              270            0              91
  25  Apple           1.884          0.111          0.138          0              0              0              87
  26  Pan             1.743          0.9            -1.969         0              308.846        0              84
  27  Knife           1.419          0.934          -2.014         0              0              0              84
  28  Bowl            -1.028         0.133          -0.296         0              0              0              71
  29  Fork            -0.598         1.132          0.573          0              0              0              80
  30  Cup             0.101          0.750          -1.938         0              0              0              94
  31  Ladle           -1.391         1.697          -0.626         0              90             0              67
  32  Apple           1.813          1.064          -1.350         0              270            0              89
  33  Kettle          -1.047         0.953          -2.094         0              0              0              84
  34  Vase            -0.986         0.130          -1.465         0              0              0              70
  35  Potato          2.002          0.093          0.166          0              0              0              87
  36  Pot             -1.289         0.957          -0.756         0              180            0              59
  37  Bread           0.071          1.213          0.573          0              0              0              80
  38  Plate           2.591          0.550          0.142          0              180            0              90
  39  Spatula         -1.080         0.928          -0.109         0              0              0              77
  40  PaperTowelRoll  2.900          0.984          0.195          0              180            0              88
  41  Vase            -0.420         0.919          0.083          0              0              0              77
  42  Egg             1.805          0.096          0.080          0              0              0              87
  43  SoapBottle      3.105          0.879          0.114          0              180            0              88
  44  SaltShaker      -1.330         0.909          -0.231         0              0              0              77
  45  Lettuce         1.945          0.893          -0.365         0              270            0              91
  46  PepperShaker    1.571          0.113          -1.201         0              0              0              58
  47  ButterKnife     -0.152         1.131          0.706          0              0              0              80
  48  DishSponge      -0.031         0.762          -2.118         0              0              0              94
  49  Vase            2.979          0.539          0.128          0              0              0              90
  50  Spoon           -0.053         0.698          0.139          0              180            0              83
  51  Tomato          -0.152         1.181          0.485          0              0              0              80
  52  Mug             2.000          1.422          -0.551         0              270            0              91
  53  Statue          -1.278         0.920          0.241          0              180            0              77
  54  Drawer          -0.819         0.75           -1.690         0              0              0
  55  Cabinet         -1.149         2.264          -0.838         0              90             0
  56  StoveBurner     -1.056         0.949          -0.671         0              180            0
  57  Cabinet         1.738          2.019          -2.000         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              0              0
  59  StoveBurner     -1.289         0.949          -0.755         0              180            0
  60  Faucet          -0.157         1.052          -2.196         0              270            0
  61  Cabinet         1.75           2.019          -1.029         0              0              0
  62  Cabinet         1.75           2.019          -1.399         0              0              0
  63  Cabinet         1.179          2.019          -2.0           0              0              0
  64  Cabinet         0.199          2.019          -2.0           0              0              0
  65  Cabinet         -1.100         2.019          -2.0           0              0              0
  66  Cabinet         -1.149         2.019          -1.979         0              0              0
  67  Cabinet         -1.149         2.019          -0.770         0              0              0
  68  Cabinet         -1.149         2.019          0.380          0              0              0
  69  Cabinet         -0.819         0.469          -1.689         0              0              0
  70  Cabinet         -0.839         0.469          -1.664         0              0              0
  71  Cabinet         -0.839         0.469          -0.049         0              0              0
  72  Cabinet         -0.414         0.370          -0.009         0              0              0
  73  Sink            -0.118         0.875          -2.009         0              0              0
  74  StoveBurner     -1.289         0.949          -1.019         0              0              0
  75  Cabinet         0.119          2.264          -2.0           0              0              0
  76  Cabinet         -0.459         2.264          -2.0           0              0              0
  77  CounterTop      -0.665         0.949          0.188          0              0              0
  78  Drawer          -0.449         0.75           -0.010         0              180            0
  79  Cabinet         -0.450         0.469          -0.009         0              0              0
  80  CounterTop      -0.630         1.167          0.573          0              0              0
  81  StoveBurner     -1.056         0.949          -1.126         0              0              0
  82  Cabinet         1.376          0.460          -1.685         0              0              0
  83  Drawer          -0.070         0.75           -0.009         0              180            0
  84  CounterTop      1.159          0.946          -2.013         0              0              0
  85  Cabinet         -1.150         2.264          -1.418         0              90             0
  86  HousePlant      -1.246         1.108          0.606          0              0              0
  87  GarbageCan      1.923          -0.010         0.137          0              0              0
  88  Shelf           2.759          0.880          0.144          0              0              0
  89  Microwave       1.827          0.900          -1.354         0              270            0
  90  Shelf           2.759          0.552          0.145          0              0              0
  91  Fridge          1.975          0.0            -0.537         0              0              0
  92  LightSwitch     0.404          1.297          2.0            0              180            0
  93  Shelf           2.760          0.172          0.145          0              0              0
  94  SinkBasin       -0.129         0.752          -2.007         0              0              0
  95  StoveKnob       -0.873         0.903          -0.827         45             90             0
  96  StoveKnob       -0.873         0.903          -0.676         45             90             0
  97  StoveKnob       -0.873         0.903          -0.966         45             90             0
  98  StoveKnob       -0.873         0.903          -1.123         45             90             0
  99  Toaster         0.840          0.900          -2.057         0              0              0
 100  CoffeeMachine   0.501          0.900          -2.125         0              0              0
 101  ShelvingUnit    2.760          0.006          0.144          0              0              0
 102  Stool           -0.826         0.010          0.908          0              347.513        0
 103  Stool           -0.132         0.010          0.883          0              71.555         0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn around, proceed to door.  Turn left, proceed to wall.  Turn left to face counter, right of stool. | STEP 2: Pick up knife from counter, to the left of the pot. | STEP 3: Turn left, proceed to end of counter.  Turn right, proceed to end of counter.  Turn left.  Proceed to sink. | STEP 4: Cut tomato in sink with knife. | STEP 5: Put knife in sink, standing up on upper right area of cup. | STEP 6: Pick up center slice of tomato in sink. | STEP 7: Turn left, proceed to microwave. | STEP 8: Open microwave, put tomato slice in leaning on cup on left side, close microwave door.  Wait four seconds, open door, remove tomato slice, close door.   | STEP 9: Turn left then right to be in front of refrigerator. | STEP 10: Open refrigerator door, place tomato slice on second shelf down, between the lettuce and bread.  Shut refrigerator door. | END