Task: Warm up tomato slice and knife to put tomato in sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.899          4.5            0              90             0
   1  Pencil          -1.693         0.923          2.026          0              0              0              69
   2  Pencil          -0.532         0.747          5.500          0              270            0              50
   3  Potato          -0.383         1.719          3.854          0              270            0              104
   4  DishSponge      -1.860         0.746          1.926          0              0              0              69
   5  DishSponge      -4.233         0.790          3.347          0              270            0              103
   6  WineBottle      -3.784         0.069          6.375          0              270            0              97
   7  Spoon           -4.159         0.792          3.097          0              0              0              103
   8  Spatula         -3.340         0.938          2.026          0              0              0              71
   9  Cup             -0.383         1.334          3.479          0              270            0              104
  10  Cup             -0.348         1.069          3.355          0              270            0              104
  11  Knife           -4.204         0.953          2.026          0              0              0              71
  12  Knife           -0.181         0.954          5.932          0              0              0              56
  13  SoapBottle      -1.860         0.923          2.026          0              0              0              53
  14  SoapBottle      -3.852         0.923          5.259          0              90             0              71
  15  Bowl            -0.342         1.577          3.470          0              270            0              104
  16  PepperShaker    -0.562         0.742          5.267          0              270            0              50
  17  PepperShaker    -0.443         0.742          5.997          0              270            0              82
  18  Bread           -0.295         1.150          3.726          0              270            0              104
  19  Mug             -4.486         0.918          5.418          0              90             0              71
  20  Mug             -0.409         0.955          6.557          0              270            0              92
  21  Egg             -3.784         0.104          6.457          0              270            0              97
  22  Apple           -4.242         0.976          2.183          0              0              0              71
  23  Knife           -4.411         0.953          3.863          0              180            0              71
  24  Potato          -0.218         1.719          3.794          0              270            0              104
  25  Fork            -1.943         0.924          1.8            0              90             0              53
  26  Bowl            -0.181         0.922          5.273          0              0              0              56
  27  Plate           -4.031         0.924          1.724          0              0              0              71
  28  Lettuce         -0.258         1.020          4.615          0              0              0              56
  29  Bread           -4.102         1.003          2.300          0              0              0              71
  30  Tomato          -0.104         0.982          5.603          0              0              0              56
  31  WineBottle      -2.026         0.924          1.648          0              0              0              53
  32  Spatula         -1.693         0.938          1.724          0              90             0              53
  33  PaperTowelRoll  -1.777         1.027          1.573          0              0              0              53
  34  Cup             -3.277         0.078          5.193          0              90             0              49
  35  Pencil          -0.473         0.747          4.849          0              270            0              61
  36  Pan             -2.467         0.930          2.012          0              0              0              59
  37  Pot             -2.469         0.930          1.712          0              270            0              86
  38  SaltShaker      -3.307         0.078          1.889          0              0              0              46
  39  SoapBottle      -3.675         0.068          6.333          0              270            0              97
  40  PepperShaker    -4.054         0.073          2.408          0              0              0              81
  41  ButterKnife     -1.943         0.923          1.648          0              180            0              53
  42  DishSponge      -3.807         0.079          5.116          0              90             0              85
  43  Spoon           -0.334         0.926          5.273          0              0              0              56
  44  Mug             -1.777         0.918          1.8            0              0              0              53
  45  Cabinet         -3.203         1.931          1.777          0              0              0
  46  Cabinet         -3.187         0.390          2.089          0              0              0
  47  Cabinet         -0.637         0.387          6.882          0              180            0
  48  Drawer          -3.797         0.781          1.961          0              0              0
  49  Cabinet         -3.036         0.387          5.029          0              90             0
  50  Drawer          -0.509         0.775          5.268          0              270            0
  51  Drawer          -4.125         0.798          2.499          0              0              0
  52  Cabinet         -0.331         2.249          4.308          0              180            0
  53  CounterTop      -1.872         0.958          1.799          0              0              0
  54  StoveBurner     -2.924         0.924          2.012          0              0              0
  55  Cabinet         -0.331         2.249          6.806          0              180            0
  56  CounterTop      -0.345         0.960          5.603          0              0              0
  57  Cabinet         -3.039         1.935          5.321          0              90             0
  58  Cabinet         -3.922         0.397          2.088          0              0              0
  59  StoveBurner     -2.467         0.924          2.012          0              0              0
  60  Cabinet         -0.331         2.249          5.505          0              180            0
  61  Drawer          -0.509         0.775          4.617          0              270            0
  62  Drawer          -3.509         0.777          5.157          0              180            0
  63  Cabinet         -3.961         0.388          2.878          0              0              0
  64  Cabinet         -3.961         0.388          4.342          0              0              0
  65  Cabinet         -0.637         0.387          5.582          0              180            0
  66  Cabinet         -0.637         0.388          4.299          0              180            0
  67  Cabinet         -0.637         0.388          5.599          0              180            0
  68  StoveBurner     -2.924         0.924          1.712          0              180            0
  69  Drawer          -1.859         0.775          1.961          0              0              0
  70  Cabinet         -0.331         2.249          5.609          0              180            0
  71  CounterTop      -4.260         0.958          4.943          0              90             0
  72  Cabinet         -4.284         1.931          2.226          0              0              0
  73  Cabinet         -0.331         2.249          3.010          0              180            0
  74  Drawer          -3.801         0.777          5.157          0              180            0
  75  Cabinet         -4.112         1.935          5.321          0              90             0
  76  Cabinet         -3.968         0.388          3.662          0              0              0
  77  Drawer          -3.418         0.777          1.961          0              0              0
  78  Drawer          -4.090         0.777          4.661          0              90             0
  79  Faucet          -4.441         0.909          3.288          270            0              0
  80  Cabinet         -0.331         2.249          4.207          0              180            0
  81  Cabinet         -3.961         0.388          2.119          0              0              0
  82  Drawer          -0.509         0.775          5.920          0              270            0
  83  Drawer          -3.193         0.777          5.157          0              180            0
  84  Cabinet         -3.968         0.388          2.894          0              0              0
  85  Cabinet         -3.667         0.387          5.029          0              90             0
  86  StoveBurner     -2.469         0.924          1.712          0              270            0
  87  Cabinet         -1.539         0.388          2.090          0              0              0
  88  Sink            -4.190         0.921          3.279          0              0              0
  89  Cabinet         -3.641         0.387          5.029          0              90             0
  90  Cabinet         -1.583         1.931          1.777          0              0              0
  91  Drawer          -0.509         0.775          6.568          0              270            0
  92  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  93  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  96  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  97  GarbageCan      -3.711         -0.030         6.376          0              270            0
  98  Toaster         -3.578         0.912          1.763          0              0              0
  99  Curtains        -4.522         2.252          3.391          90             90             0
 100  Window          -4.868         1.629          3.309          90             270            0
 101  Microwave       -2.693         1.430          1.689          0              0              0
 102  LightSwitch     -1.588         1.169          1.506          0              0              0
 103  SinkBasin       -4.196         0.780          3.276          0              270            0
 104  Fridge          -0.324         -0.001         3.602          0              0              0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn and go to the counter to the left of the sink where the bread is on the counter. | STEP 2: Pick up the knife that is on the counter. | STEP 3: Turn around and go to the counter behind you where the tomato is with the knife. | STEP 4: Slice the tomato with the knife. | STEP 5: With the knife in hand turn and go to the microwave. | STEP 6: Open the microwave and place the knife in there. Close the door. | STEP 7: Turn and go to the tomato you sliced. | STEP 8: Pick up a slice of tomato that is on the right side. | STEP 9: With the tomato slice in hand turn and go to the microwave. | STEP 10: Open the microwave. Place the tomato slice in the microwave behind the knife. Close the door and start the microwave.  When finished take out the tomato slice and close the door. | STEP 11: With the tomato slice in hand go to the sink. | STEP 12: Place the tomato slice in the sink in the right front corner. | END