Task: To cut a slice of tomato plus set it on the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.900          -3.25          0              0              0
   1  Glassbottle     -0.383         0.082          -2.247         0              0              0              58
   2  Pencil          -0.600         0.916          -3.839         0              0              0              53
   3  Potato          -0.246         1.422          -0.560         0              270            0              70
   4  Potato          -0.392         1.422          -1.084         0              270            0              70
   5  DishSponge      -0.385         0.915          -3.839         0              0              0              53
   6  DishSponge      -0.344         0.080          -1.849         0              0              0              58
   7  WineBottle      -0.815         0.916          -3.485         0              0              0              53
   8  Spatula         -0.222         0.930          -3.771         0              90             0              53
   9  Spoon           -0.600         0.916          -3.768         0              0              0              53
  10  Plate           -0.295         1.533          -3.637         0              45             0              61
  11  Cup             -0.460         0.080          -3.267         0              0              0              59
  12  SoapBottle      -0.211         1.526          -2.703         0              0              0              65
  13  Tomato          -0.392         1.454          -0.455         0              270            0              70
  14  Tomato          -0.447         0.861          -1.934         0              270            0              71
  15  Bowl            -1.048         1.968          -3.851         0              0              0              54
  16  SaltShaker      -0.749         0.742          -3.527         0              0              0              52
  17  SaltShaker      -0.749         0.743          -3.615         0              0              0              52
  18  PepperShaker    -0.508         0.912          -2.966         0              0              0              64
  19  Mug             -0.671         0.910          -3.485         0              0              0              53
  20  Mug             -0.398         0.792          -2.229         0              90             0              71
  21  Apple           -0.295         1.464          -0.979         0              270            0              70
  22  Apple           -0.441         1.172          -0.560         0              270            0              70
  23  Apple           -0.348         1.764          -0.455         0              270            0              70
  24  Lettuce         -0.392         1.191          -0.769         0              270            0              70
  25  Glassbottle     -0.211         1.528          -3.020         0              0              0              65
  26  Egg             -0.490         1.131          -0.455         0              270            0              70
  27  Pen             -2.160         0.919          -0.829         0              0              0              78
  28  Fork            -0.295         0.788          -1.858         0              0              0              71
  29  SoapBottle      -0.815         0.914          -3.626         0              0              0              53
  30  Pencil          -2.114         0.918          -0.899         0              0              0              78
  31  WineBottle      -1.943         0.027          -3.799         0              0              0              69
  32  Spatula         -0.436         0.930          -2.563         0              270            0              53
  33  Bread           -0.415         0.952          -3.625         0              0              0              53
  34  Tomato          -0.302         0.861          -2.008         0              270            0              71
  35  Pan             -1.129         0.935          -3.498         0              0              0              51
  36  Cup             -0.499         0.080          -2.109         0              0              0              58
  37  Pot             -1.515         0.935          -3.497         0              0              0              50
  38  SaltShaker      -0.391         0.743          -3.208         0              0              0              64
  39  Potato          -1.975         0.058          -3.690         0              0              0              69
  40  PepperShaker    -1.443         1.965          -3.928         0              0              0              62
  41  ButterKnife     -0.371         0.903          -3.443         0              0              0              53
  42  DishSponge      -0.778         0.081          -3.506         0              0              0              57
  43  Spoon           -0.328         0.786          -2.125         0              33.895         0              71
  44  Plate           -2.121         0.913          -2.422         0              0              0              78
  45  Knife           -2.269         0.920          -2.143         90             315            0              78
  46  Mug             -0.747         0.077          -3.623         0              0              0              57
  47  Bowl            -0.348         1.689          -0.874         0              270            0              70
  48  Cabinet         -0.582         0.388          -1.804         0              0              0
  49  StoveBurner     -1.515         0.928          -3.752         0              90             0
  50  StoveBurner     -1.515         0.928          -3.497         0              0              0
  51  StoveBurner     -1.129         0.928          -3.498         0              0              0
  52  Drawer          -0.749         0.779          -3.551         0              0              0
  53  CounterTop      -0.303         0.951          -2.793         0              0              0
  54  Cabinet         -0.883         2.140          -3.687         0              0              0
  55  Cabinet         -0.312         2.140          -1.543         0              0              0
  56  Sink            -0.349         0.907          -2.014         0              0              0
  57  Cabinet         -0.877         0.388          -3.422         0              0              0
  58  Cabinet         -0.582         0.388          -2.197         0              0              0
  59  Cabinet         -0.584         0.388          -3.396         0              0              0
  60  Cabinet         -0.312         2.140          -2.481         0              0              0
  61  Cabinet         -0.330         1.921          -3.390         0              0              0
  62  Cabinet         -1.764         2.140          -3.687         0              0              0
  63  StoveBurner     -1.129         0.928          -3.752         0              90             0
  64  Drawer          -0.454         0.779          -3.268         0              0              0
  65  Cabinet         -0.302         1.916          -2.501         0              0              0
  66  Microwave       -1.317         1.517          -3.801         0              1.440          0
  67  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  68  LightSwitch     -4.323         1.319          0.0            0              180            0
  69  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  70  Fridge          -0.330         0.0            -0.769         0              270            0
  71  SinkBasin       -0.350         0.786          -2.018         0              270            0
  72  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  73  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  76  Toaster         -0.181         0.903          -2.764         0              270            0
  77  Window          -2.503         1.782          -4.185         90             180            0
  78  DiningTable     -2.432         0.000          -1.694         0              270            0
  79  Shelf           -2.432         0.150          -1.694         0              270            0
  80  Blinds          -2.536         2.699          -3.959         0              0              0
  81  Faucet          -0.079         0.904          -2.034         270            180            0
  82  Chair           -3.264         0.002          -2.094         0              53.280         0
  83  Chair           -3.240         0.002          -1.253         0              117.257        0
  84  Shelf           -2.432         0.523          -1.694         0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn right and walk forward to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the sink. | STEP 4: Cut the top tomato in the sink into slices. | STEP 5: Take a step to the right to face the counter. | STEP 6: Put the knife on the counter. | STEP 7: Take a step to the left to face the sink. | STEP 8: Pick up a slice of tomato from the sink. | STEP 9: Turn to the right and walk forward to face the microwave. | STEP 10: Heat the tomato slice in the microwave and then remove it. | STEP 11: Turn around and walk forward and then turn left to face the table in the center of the room. | STEP 12: Place the tomato slice on the table. | END