Task: TO cut a tomato, clean it, plus place it into the microwave.

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            0.900          2.0            0              0              0
   1  Potato          1.557          0.942          -1.680         0              0              0              67
   2  Ladle           1.218          0.163          -1.860         0              0              0              59
   3  Ladle           1.631          0.164          -1.397         0              270            0              61
   4  DishSponge      1.771          0.880          2.456          0              0              0              87
   5  ButterKnife     1.738          0.913          -1.563         0              0              0              67
   6  ButterKnife     1.618          0.913          -1.834         0              0              0              67
   7  Pot             1.557          0.911          -1.446         0              0              0              67
   8  Spoon           0.066          0.928          0.991          0              0              0              84
   9  Fork            0.522          0.931          0.991          0              0              0              84
  10  Fork            -0.346         0.914          -1.725         0              0              0              67
  11  Egg             -1.323         0.913          -0.702         0              90             0              75
  12  Egg             1.647          0.967          -1.212         0              0              0              67
  13  Cup             0.180          0.930          0.991          0              0              0              84
  14  Plate           -1.438         1.187          -0.910         0              90             0              75
  15  Knife           0.002          0.936          -1.762         0              0              0              67
  16  SoapBottle      0.384          1.657          -2.238         0              0              0              56
  17  Bowl            -0.697         0.108          -1.917         0              0              0              60
  18  Bowl            1.871          1.654          -1.673         0              270            0              57
  19  Lettuce         1.850          0.994          -2.085         0              0              0              67
  20  SaltShaker      1.828          0.909          -1.095         0              0              0              67
  21  SaltShaker      0.066          0.926          1.448          0              0              0              84
  22  Mug             1.566          0.875          2.456          0              0              0              88
  23  Mug             0.503          1.653          -2.200         0              0              0              56
  24  Apple           -0.824         0.984          -2.167         0              0              0              67
  25  Apple           -0.963         0.984          -2.260         0              0              0              67
  26  Potato          -1.219         1.044          -1.638         0              90             0              73
  27  Bowl            -0.047         0.923          0.762          0              0              0              84
  28  SoapBottle      1.828          0.912          -1.329         0              0              0              67
  29  Fork            0.066          0.927          0.305          0              0              0              84
  30  Ladle           0.294          0.971          0.991          0              0              0              84
  31  Bread           -0.047         0.972          0.076          0              0              0              84
  32  Lettuce         0.066          1.011          1.220          0              0              0              84
  33  WineBottle      -1.072         0.127          -1.463         0              90             0              62
  34  Spatula         0.457          0.928          -2.085         0              0              0              67
  35  Plate           -1.495         0.862          -0.599         0              90             0              75
  36  SaltShaker      1.877          0.549          2.431          0              0              0              93
  37  Pot             1.567          0.948          -0.757         0              0              0              49
  38  Cup             -0.047         0.930          0.305          0              0              0              84
  39  PepperShaker    1.466          0.909          -1.095         0              0              0              67
  40  Pan             1.824          0.945          -0.346         0              0              0              48
  41  ButterKnife     -0.772         0.913          -2.200         0              0              0              67
  42  Tomato          -0.160         0.978          1.220          0              0              0              84
  43  DishSponge      1.572          0.120          -1.200         0              270            0              61
  44  Egg             -0.160         0.980          0.991          0              0              0              84
  45  Spoon           0.066          0.931          0.534          0              0              0              84
  46  Knife           0.294          0.953          0.762          0              0              0              84
  47  Mug             1.261          0.951          -1.934         0              0              0              77
  48  StoveBurner     1.845          0.940          -0.355         0              0              0
  49  StoveBurner     1.567          0.940          -0.757         0              0              0
  50  Cabinet         -1.149         2.019          -1.979         0              90             0
  51  Cabinet         -1.149         2.265          -0.834         0              90             0
  52  Cabinet         -0.459         2.265          -2.0           0              0              0
  53  Cabinet         -1.100         2.019          -2.0           0              0              0
  54  Cabinet         1.719          2.019          -2.0           0              0              0
  55  Cabinet         1.179          2.019          -2.0           0              0              0
  56  Cabinet         0.199          2.019          -2.0           0              0              0
  57  Cabinet         1.75           2.019          -1.399         0              270            0
  58  Cabinet         1.75           2.019          -1.029         0              270            0
  59  Cabinet         1.379          0.469          -1.689         0              0              0
  60  Cabinet         -0.819         0.469          -1.689         0              0              0
  61  Cabinet         1.389          0.469          -1.059         0              270            0
  62  Cabinet         -0.839         0.469          -1.665         0              90             0
  63  StoveBurner     1.567          0.940          -0.355         0              0              0
  64  StoveBurner     1.845          0.940          -0.757         0              0              0
  65  Sink            -0.109         0.893          -2.009         0              0              0
  66  Drawer          -0.819         0.75           -1.690         0              0              0
  67  CounterTop      0.232          0.949          -2.002         0              0              0
  68  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  69  Vase            0.251          0.546          0.475          0              270            0
  70  Toaster         0.780          0.900          -2.080         0              0              0
  71  LightSwitch     0.108          1.315          2.75           0              180            0
  72  Vase            0.400          0.925          0.218          0              180            0
  73  Microwave       -1.233         0.900          -1.680         0              90             0
  74  Vase            1.465          1.662          -2.200         0              0              0
  75  Fridge          -1.495         0.0            -0.703         0              0              0
  76  Window          2.114          1.495          1.072          90             270            0
  77  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  78  Vase            0.333          0.546          1.272          0              270            0
  79  SinkBasin       -0.148         0.753          -2.026         0              0              0
  80  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  81  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  82  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  83  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  84  DiningTable     0.170          0.005          0.678          0              270            0
  85  Shelf           0.170          0.155          0.678          0              270            0
  86  Shelf           1.605          0.172          2.480          0              0              0
  87  Shelf           1.605          0.552          2.480          0              0              0
  88  Shelf           1.604          0.880          2.479          0              0              0
  89  ShelvingUnit    1.605          0.006          2.480          0              0              0
  90  Faucet          -0.143         1.028          -2.223         0              270            0
  91  Stool           -0.553         0.000          0.871          1.233          280.376        0
  92  Shelf           0.170          0.528          0.678          0              270            0
  93
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Walk to the opposite corner of the room and face the counter to the left of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk forward to the stool in front of the counter and face the tomato on the counter. | STEP 4: Cut the tomato on the table into slices. | STEP 5: Turn around and walk forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and walk forward to face the tomato on the counter in front of the stool. | STEP 8: Pick up a slice of tomato on the counter. | STEP 9: Turn around and walk forward to face the sink. | STEP 10: Wash the tomato slice in the sink and remove it. | STEP 11: Turn to the right to face the microwave on the counter. | STEP 12: Place the slice of tomato into the microwave. | END