Task: Slice a tomato, heat a slice, place the slice in the bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.901          0.0            0              270            0
   1  WineBottle      1.830          1.503          2.767          0              0              0              48
   2  Pot             1.866          0.935          1.504          0              180            0              51
   3  Spoon           -0.272         0.792          1.217          0              0              0              74
   4  Spoon           -0.033         0.747          2.129          0              0              0              46
   5  Fork            0.033          0.791          0.377          0              90             0              74
   6  Egg             2.292          0.644          -0.097         0              270            0              68
   7  Knife           -0.349         0.816          0.713          0              90             0              74
   8  Tomato          2.137          0.907          -0.550         0              270            0              68
   9  SaltShaker      2.127          1.498          0.358          0              0              0              45
  10  Bread           2.112          1.371          -0.188         0              270            0              68
  11  Lettuce         -0.042         0.852          1.049          0              180            0              74
  12  Lettuce         -0.042         0.852          0.545          0              0              0              74
  13  Mug             2.206          1.496          2.337          0              0              0              40
  14  Apple           -0.282         0.987          2.827          0              0              0              47
  15  Apple           -0.261         1.085          2.014          0              90             0              72
  16  Egg             -0.395         1.078          2.014          0              90             0              72
  17  Lettuce         0.033          0.852          0.881          0              0              0              74
  18  Fork            -0.042         0.791          0.881          0              270            0              74
  19  SoapBottle      2.320          1.502          2.104          0              270            0              50
  20  Ladle           1.840          0.982          0.435          0              270            0              58
  21  Ladle           -0.096         0.942          2.546          6.888          45             340.409        47
  22  Bread           -0.199         0.823          0.813          0              0              0              74
  23  SaltShaker      2.241          1.498          0.478          0              0              0              45
  24  Potato          -0.390         0.077          -0.769         0              90             0              69
  25  Pan             1.928          0.070          0.640          0              0              0              44
  26  WineBottle      1.844          0.938          2.359          0              0              0              47
  27  Spatula         1.065          0.810          2.750          0              270            0              71
  28  Knife           -0.196         0.816          1.386          0              0              0              74
  29  Tomato          -0.425         0.837          0.881          0              0              0              74
  30  Apple           2.164          0.652          -0.007         0              270            0              68
  31  ButterKnife     1.673          0.937          2.666          0              0              0              47
  32  Pot             1.156          0.081          2.523          0              270            0              53
  33  PepperShaker    0.495          0.076          2.523          0              0              0              54
  34  Cup             2.112          1.319          -0.460         0              270            0              68
  35  DishSponge      1.849          0.081          1.915          0              0              0              43
  36  Plate           2.059          0.342          -0.460         0              270            0              68
  37  Spoon           1.917          0.939          0.583          0              0              0              58
  38  Mug             2.064          0.989          2.462          0              225            0              73
  39  Bowl            2.150          0.934          2.063          0              0              0              47
  40  Cabinet         2.041          2.113          2.618          0              0              0
  41  Cabinet         0.126          0.388          1.774          0              0              0
  42  StoveBurner     2.140          0.929          1.504          0              180            0
  43  Cabinet         1.760          0.388          2.346          0              0              0
  44  Cabinet         1.760          0.388          0.869          0              0              0
  45  Cabinet         2.041          1.810          0.283          0              0              0
  46  Drawer          -0.024         0.774          2.061          0              0              0
  47  CounterTop      1.065          0.973          2.666          0              0              0
  48  Cabinet         1.969          2.113          2.618          0              0              0
  49  StoveBurner     2.140          0.929          1.106          0              0              0
  50  Cabinet         2.041          2.113          1.809          0              0              0
  51  StoveBurner     1.866          0.929          1.504          0              180            0
  52  Cabinet         2.041          2.113          1.766          0              0              0
  53  Cabinet         1.514          0.388          2.360          0              0              0
  54  Cabinet         0.351          0.388          2.360          0              0              0
  55  Cabinet         2.041          1.810          0.872          0              0              0
  56  Drawer          2.167          0.774          0.582          0              0              0
  57  Cabinet         2.041          2.113          0.892          0              0              0
  58  CounterTop      2.060          0.973          0.583          0              0              0
  59  Sink            0.935          0.936          2.646          0              0              0
  60  Curtains        0.964          2.061          2.989          0              0              0
  61  StoveBurner     1.863          0.929          1.106          0              0              0
  62  Drawer          1.911          0.774          2.060          0              0              0
  63  StoveKnob       2.326          1.092          1.610          288.013        90             0
  64  StoveKnob       2.326          1.092          1.460          288.013        90             0
  65  StoveKnob       2.326          1.092          1.210          288.013        90             0
  66  StoveKnob       2.326          1.092          1.050          288.013        90             0
  67  Toaster         2.126          0.926          0.572          0              270            0
  68  Fridge          2.104          0.0            -0.279         0              270            0
  69  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  70  LightSwitch     0.354          1.518          -1.031         0              0              0
  71  SinkBasin       0.903          0.784          2.640          0              0              0
  72  Microwave       -0.310         0.926          2.077          0              90             0
  73  CoffeeMachine   2.084          0.927          2.667          0              225            0
  74  DiningTable     -0.153         -0.000         1.073          0              270            0
  75  Faucet          1.175          0.926          2.950          270            90             0
  76  Faucet          0.686          0.926          2.950          270            90             0
  77  Chair           -0.077         0.002          0.196          0              15.000         0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn to your right and stand in front of the white table with the three heads of lettuce on it. | STEP 2: Pick up the yellow-handled knife located in front of the tomato at the rear of the table. | STEP 3: Move to stand in front of the middle head of lettuce on the table. | STEP 4: Slice the tomato at the rear of the table. | STEP 5: Turn around with the knife and face the stove. | STEP 6: Open the cupboard to the right of the stove and place the knife on the handle of the dustpan in the cupboard, close the door. | STEP 7: Turn around and face the white table. | STEP 8: Go to the white table and pick up the center slice of the tomato. | STEP 9: Turn right and walk to the microwave oven. | STEP 10: Open the microwave door and place the tomato slice on the left side of the plate in the microwave, close the door; turn the microwave on, and when finished cooking, open the door, pick up the tomato slice, close the door. | STEP 11: Turn and walk in the direction of the kitchen door, hang a right at the gray bin to the left of the back of the wooden chair. | STEP 12: Place the tomato slice in the bin. | END