Task: To place a tomato in a bowl in the microwave as well as cut the tomato into slices.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.901          -0.5           0              90             0
   1  Potato          -2.708         0.760          -0.741         0              135            0              88
   2  DishSponge      -0.471         0.745          -0.912         0              0              0              70
   3  ButterKnife     -3.211         0.717          -0.753         0              225            0              88
   4  Pot             -0.854         0.916          -3.878         0              180            0              44
   5  Spatula         -2.439         0.728          -0.371         0              0              0              88
   6  Spoon           -2.439         0.714          -0.496         0              270            0              88
   7  Fork            -2.740         0.714          -0.922         0              0              0              88
   8  Fork            -0.039         0.914          -3.804         0              0              0              44
   9  Egg             -0.065         1.048          -0.950         0              270            0              81
  10  Cup             -0.373         0.082          -3.285         0              0              0              45
  11  Plate           -3.275         1.866          -2.508         0              0              0              53
  12  Knife           -0.471         0.779          -1.563         0              90             0              67
  13  Knife           -2.581         0.746          -0.558         0              0              0              88
  14  SoapBottle      -3.393         0.913          -2.926         0              0              0              44
  15  Bowl            -0.374         0.078          -0.760         0              0              0              48
  16  Bowl            -3.079         0.638          -2.002         0              90             0              85
  17  Bowl            -3.079         1.396          -2.064         0              90             0              85
  18  PepperShaker    -1.262         0.910          -3.952         0              0              0              44
  19  PepperShaker    -2.721         0.710          -0.439         0              225            0              88
  20  Bread           -2.990         0.757          -0.780         0              0              0              88
  21  Apple           -0.500         0.958          -1.493         0              0              0              71
  22  Apple           -2.723         0.756          -0.621         0              270            0              88
  23  Pot             -2.836         0.903          -3.745         0              92.628         0              44
  24  Egg             -0.243         0.949          -3.581         0              0              0              44
  25  Cup             -3.313         1.292          -3.032         0              0              0              44
  26  Bread           -0.412         0.954          -3.112         0              0              0              44
  27  Fork            -3.169         0.747          -3.078         0              90             0              66
  28  Pan             -0.165         0.975          -2.450         0              0              0              76
  29  Potato          -3.027         1.057          -2.125         0              90             0              85
  30  Lettuce         -0.447         1.001          -3.878         0              0              0              44
  31  Tomato          -0.176         0.965          -1.616         0              0              0              71
  32  Apple           -1.983         0.833          -3.747         0              0              0              86
  33  SoapBottle      -3.292         0.716          -0.683         0              270            0              88
  34  Spatula         -2.803         0.728          -0.638         0              0              0              88
  35  SaltShaker      -0.160         0.910          -2.911         0              0              0              44
  36  Knife           -0.530         0.778          -0.609         0              270            0              70
  37  PepperShaker    -0.338         0.912          -1.432         0              0              0              71
  38  ButterKnife     -2.629         0.913          -3.878         0              0              0              44
  39  Plate           -1.262         0.911          -3.729         0              0              0              44
  40  DishSponge      -1.845         0.790          -3.704         0              0              0              86
  41  Spoon           -0.500         0.747          -0.761         0              90             0              70
  42  Mug             -0.077         1.863          -2.106         0              0              0              62
  43  Bowl            -0.792         1.290          -3.966         0              0              0              58
  44  CounterTop      -1.789         0.949          -3.803         0              0              0
  45  Cabinet         -0.577         0.388          -3.476         0              0              0
  46  Cabinet         -0.605         0.388          -3.511         0              0              0
  47  Cabinet         -2.976         0.388          -3.201         0              0              0
  48  Cabinet         -0.577         0.388          -0.447         0              0              0
  49  Cabinet         -0.577         0.388          -1.725         0              0              0
  50  Cabinet         -0.226         1.803          -1.743         0              0              0
  51  Cabinet         -0.228         1.799          -0.447         0              0              0
  52  Cabinet         -6.010         1.139          -6.019         0              0              0
  53  Cabinet         -3.022         2.098          -2.681         0              0              0
  54  Cabinet         -3.022         2.098          -1.743         0              0              0
  55  Cabinet         -0.577         0.388          -2.736         0              0              0
  56  Cabinet         -3.232         1.803          -3.343         0              0              0
  57  Cabinet         -2.811         1.810          -3.764         0              0              0
  58  Cabinet         -1.233         1.810          -3.764         0              0              0
  59  Cabinet         -1.364         0.388          -3.511         0              0              0
  60  Cabinet         -1.380         0.388          -3.511         0              0              0
  61  Cabinet         -0.226         1.803          -2.725         0              0              0
  62  Cabinet         -0.236         2.098          -1.767         0              0              0
  63  Cabinet         -0.236         2.098          -2.705         0              0              0
  64  Cabinet         -0.193         1.210          -4.239         0              0              0
  65  Cabinet         -2.148         0.388          -3.511         0              0              0
  66  Drawer          -3.104         0.797          -2.968         0              0              0
  67  Drawer          -0.449         0.797          -1.410         0              0              0
  68  Sink            -1.786         0.902          -3.748         0              0              0
  69  StoveBurner     -0.376         0.936          -2.451         0              0              0
  70  Drawer          -0.449         0.797          -0.762         0              0              0
  71  CounterTop      -0.268         0.951          -1.089         0              0              0
  72  Drawer          -0.449         0.797          -3.348         0              0              0
  73  StoveBurner     -0.376         0.936          -2.031         0              180            0
  74  Drawer          -0.449         0.797          -2.968         0              0              0
  75  StoveBurner     -0.165         0.936          -2.030         0              180            0
  76  StoveBurner     -0.165         0.936          -2.450         0              0              0
  77  StoveKnob       -0.568         0.903          -2.313         45             270            0
  78  StoveKnob       -0.568         0.903          -2.470         45             270            0
  79  StoveKnob       -0.568         0.903          -2.166         45             270            0
  80  StoveKnob       -0.568         0.903          -2.003         45             270            0
  81  Microwave       -0.143         0.903          -0.908         0              270            0
  82  LightSwitch     -1.108         1.457          0.338          0              180            0
  83  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  84  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  85  Fridge          -3.188         0.0            -2.184         0              0              0
  86  SinkBasin       -1.786         0.779          -3.747         0              0              0
  87  Toaster         -0.230         0.903          -3.406         0              270            0
  88  DiningTable     -2.800         0.003          -0.505         0              0              0
  89  Chair           -3.044         0.003          -1.223         0              32.194         0
  90  Faucet          -1.791         1.136          -3.913         0              270            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn to the right and walk forward to face the counter. | STEP 2: Pick up the tomato on the counter. | STEP 3: Step to the left and face the cabinet below the microwave. | STEP 4: Place the apple in the bowl in the cabinet under the microwave. | STEP 5: Pick up the bowl with the tomato in it from in the cabinet under the microwave. | STEP 6: Look up to face the microwave on the counter. | STEP 7: Place the bowl with a tomato in it in the microwave and close it. | STEP 8: Turn around and walk across the room and turn right to face the kitchen table. | STEP 9: Pick up the knife on the kitchen table. | STEP 10: Turn right and walk across the room to face the microwave. | STEP 11: Cut the tomato in the microwave into slices. | END