Task: Slice a tomato to heat up in the microwave and place in the fridge.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.900          -3.25          0              90             0
   1  Glassbottle     -0.383         0.082          -1.804         0              0              0              42
   2  Potato          -0.246         1.422          -0.979         0              270            0              64
   3  ButterKnife     -2.324         0.923          -1.193         0              180            0              72
   4  WineBottle      -0.671         0.916          -3.555         0              0              0              47
   5  Spatula         -2.438         0.938          -0.963         0              90             0              72
   6  Fork            -2.096         0.924          -1.423         0              0              0              72
   7  Fork            -2.096         0.924          -1.884         0              90             0              72
   8  Plate           -2.438         0.925          -1.193         0              0              0              72
   9  Cup             -0.295         1.097          -1.084         0              270            0              64
  10  Egg             -1.849         0.059          -3.799         0              0              0              63
  11  SoapBottle      -1.943         0.025          -3.763         0              0              0              63
  12  Bowl            -0.348         1.689          -0.560         0              270            0              64
  13  Lettuce         -0.343         1.191          -0.560         0              270            0              64
  14  Bread           -2.666         0.976          -2.345         0              0              0              72
  15  PepperShaker    -0.180         1.966          -1.718         0              0              0              49
  16  Mug             -1.601         1.964          -3.928         0              0              0              56
  17  Apple           -0.392         1.464          -0.769         0              270            0              64
  18  Lettuce         -2.562         1.002          -1.677         36.385         0              0              72
  19  Glassbottle     -2.438         0.924          -1.884         0              0              0              72
  20  Egg             -0.600         0.948          -3.697         0              0              0              47
  21  Pen             -2.324         0.926          -2.345         0              0              0              72
  22  Fork            -0.365         0.916          -2.764         0              0              0              47
  23  SoapBottle      -0.421         0.079          -3.299         0              0              0              53
  24  Pencil          -2.780         0.923          -2.115         0              0              0              72
  25  WineBottle      -2.096         0.924          -2.115         0              0              0              72
  26  Spatula         -2.666         0.938          -1.193         0              180            0              72
  27  Bread           -0.414         0.952          -3.625         0              0              0              47
  28  Tomato          -0.254         0.861          -1.934         0              270            0              65
  29  Pan             -1.129         0.935          -3.498         0              0              0              45
  30  Cup             -2.552         0.922          -2.115         0              0              0              72
  31  Pot             -1.515         0.935          -3.497         0              0              0              44
  32  SaltShaker      -0.420         0.743          -3.327         0              0              0              58
  33  Potato          -0.295         1.422          -0.874         0              270            0              64
  34  PepperShaker    -2.780         0.919          -1.654         0              0              0              72
  35  ButterKnife     -0.350         0.797          -1.934         0              270            0              65
  36  DishSponge      -0.671         0.915          -3.768         0              0              0              47
  37  Spoon           -2.210         0.924          -1.654         0              0              0              72
  38  Plate           -2.324         0.925          -1.423         0              0              0              72
  39  Knife           -2.269         0.920          -2.143         90             315            0              72
  40  Mug             -0.351         0.962          -3.144         0              270            0              61
  41  Bowl            -2.754         0.913          -1.174         0              18.855         0              72
  42  Cabinet         -0.582         0.388          -1.804         0              0              0
  43  StoveBurner     -1.515         0.928          -3.752         0              90             0
  44  StoveBurner     -1.515         0.928          -3.497         0              0              0
  45  StoveBurner     -1.129         0.928          -3.498         0              0              0
  46  Drawer          -0.749         0.779          -3.551         0              0              0
  47  CounterTop      -0.303         0.951          -2.793         0              0              0
  48  Cabinet         -0.883         2.140          -3.687         0              0              0
  49  Cabinet         -0.312         2.140          -1.543         0              0              0
  50  Sink            -0.349         0.907          -2.014         0              0              0
  51  Cabinet         -0.877         0.388          -3.422         0              0              0
  52  Cabinet         -0.582         0.388          -2.197         0              0              0
  53  Cabinet         -0.584         0.388          -3.396         0              0              0
  54  Cabinet         -0.312         2.140          -2.481         0              0              0
  55  Cabinet         -0.330         1.921          -3.390         0              0              0
  56  Cabinet         -1.764         2.140          -3.687         0              0              0
  57  StoveBurner     -1.129         0.928          -3.752         0              90             0
  58  Drawer          -0.454         0.779          -3.268         0              0              0
  59  Cabinet         -0.302         1.916          -2.501         0              0              0
  60  Microwave       -1.317         1.517          -3.801         0              1.440          0
  61  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  62  LightSwitch     -4.323         1.319          0.0            0              180            0
  63  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  64  Fridge          -0.330         0.0            -0.769         0              270            0
  65  SinkBasin       -0.350         0.786          -2.018         0              270            0
  66  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  67  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  68  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  69  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  70  Toaster         -0.181         0.903          -2.764         0              270            0
  71  Window          -2.503         1.782          -4.185         90             180            0
  72  DiningTable     -2.432         0.000          -1.694         0              270            0
  73  Shelf           -2.432         0.150          -1.694         0              270            0
  74  Blinds          -2.536         2.699          -3.959         0              0              0
  75  Faucet          -0.079         0.904          -2.034         270            180            0
  76  Chair           -3.264         0.002          -2.094         0              53.280         0
  77  Chair           -3.240         0.002          -1.253         0              117.257        0
  78  Shelf           -2.432         0.523          -1.694         0              270            0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Make a left, then another left around the kitchen island to reach the sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn to face the tomato in the sink.  | STEP 4: Slice the tomato in the sink with the knife. | STEP 5: Turn to face the countertop to the right of the sink. | STEP 6: Set the knife down on the countertop. | STEP 7: Turn left to face the sink. | STEP 8: Pick up a slice of the tomato in the sink. | STEP 9: Turn right to walk towards the microwave. | STEP 10: Heat up the slice of tomato in the microwave, removing it afterwards. | STEP 11: Turn left to walk to the fridge across the room. | STEP 12: Put the slice of tomato in the fridge. | END