Task: Put a knife plus a slice of tomato on the counter by the other knife and black kettle.

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          -0.5           0              270            0
   1  Potato          -1.796         0.065          1.329          0              270            0              83
   2  CellPhone       0.107          0.923          0.273          0              0              0              77
   3  Ladle           -1.668         0.955          -1.513         0              0              0              69
   4  Kettle          0.107          0.926          0.041          0              0              0              77
   5  DishSponge      1.712          0.544          1.088          0              0              0              67
   6  DishSponge      -0.002         0.760          -1.324         0              0              0              93
   7  Spatula         1.117          0.926          -1.513         0              0              0              69
   8  Spatula         1.610          0.364          0.116          0              270            0              65
   9  Pot             1.975          0.938          0.384          0              180            0              55
  10  Egg             -0.175         0.817          -1.546         0              0              0              93
  11  Cup             -1.789         1.027          -0.081         0              90             0              92
  12  Knife           0.214          0.947          0.506          0              0              0              77
  13  SoapBottle      -0.213         0.929          0.970          0              0              0              77
  14  Tomato          -1.682         0.894          0.201          0              90             0              92
  15  Tomato          -0.320         0.980          0.041          0              0              0              77
  16  SaltShaker      -1.463         0.907          -1.013         0              0              0              69
  17  SaltShaker      0.972          1.675          -1.501         0              0              0              68
  18  PepperShaker    -1.814         0.907          -1.113         0              0              0              69
  19  PepperShaker    0.321          0.921          0.273          0              0              0              77
  20  Bread           -0.213         1.006          0.273          0              0              0              77
  21  Lettuce         -0.002         0.837          -1.490         0              0              0              93
  22  Mug             1.355          0.955          -1.362         0              0              0              91
  23  Mug             -0.106         0.920          0.738          0              0              0              77
  24  SoapBottle      0.305          0.116          -1.282         0              0              0              58
  25  Cup             1.156          0.107          -1.479         0              0              0              62
  26  Pot             0.107          0.929          0.738          0              0              0              77
  27  Fork            -0.088         0.760          -1.490         0              90             0              93
  28  Ladle           0.107          0.969          1.202          0              0              0              77
  29  Kettle          -0.106         0.926          -0.190         0              0              0              77
  30  Egg             1.924          1.063          -0.651         0              270            0              90
  31  Plate           -0.305         0.113          -1.347         0              0              0              48
  32  Pan             -1.286         0.9            -1.348         0              79.769         0              69
  33  Lettuce         -0.844         0.988          -1.513         0              0              0              69
  34  Spatula         1.714          0.135          0.672          0              270            0              61
  35  Apple           1.986          0.964          1.484          0              0              0              69
  36  Knife           -0.106         0.947          0.506          0              180            0              77
  37  SaltShaker      1.095          1.675          -1.614         0              0              0              68
  38  PepperShaker    -1.059         0.109          -1.296         0              0              0              81
  39  CellPhone       1.603          0.760          1.220          0              270            0              75
  40  ButterKnife     1.900          0.911          1.182          0              0              0              69
  41  Bread           -0.320         1.006          0.506          0              0              0              77
  42  Tomato          0.170          0.815          -1.380         0              0              0              93
  43  Potato          -1.749         0.863          -0.269         0              90             0              92
  44  DishSponge      1.839          0.911          -0.053         0              0              0              69
  45  Spoon           -0.751         0.672          -1.301         0              0              0              60
  46  Mug             -1.803         1.464          -0.269         0              90             0              92
  47  Bowl            -1.750         1.467          -0.081         0              90             0              92
  48  Cabinet         -0.495         0.474          -1.149         0              0              0
  49  Window          -0.010         1.582          -1.821         0              0              0
  50  Drawer          0.805          0.475          -1.159         0              0              0
  51  StoveBurner     1.764          0.902          0.601          0              270            0
  52  Drawer          1.5            0.196          -0.019         0              0              0
  53  Drawer          1.5            0.629          -0.018         0              0              0
  54  Drawer          1.5            0.602          -0.019         0              270            0
  55  StoveBurner     1.975          0.902          0.384          0              270            0
  56  Cabinet         -1.703         2.022          -1.453         0              90             0
  57  Cabinet         1.789          2.019          -0.819         0              270            0
  58  Cabinet         0.494          0.474          -1.149         0              0              0
  59  Cabinet         0.409          0.475          0.444          0              0              0
  60  Drawer          -0.696         0.475          -1.159         0              0              0
  61  Drawer          1.5            0.140          0.599          0              270            0
  62  Cabinet         1.389          0.474          -1.149         0              0              0
  63  Drawer          1.5            0.305          0.600          0              0              0
  64  StoveBurner     1.975          0.902          0.601          0              270            0
  65  Drawer          1.5            0.429          -0.019         0              0              0
  66  StoveBurner     1.764          0.902          0.819          0              270            0
  67  Drawer          1.5            0.519          1.220          0              0              0
  68  Cabinet         1.705          2.019          -1.449         0              0              0
  69  CounterTop      0.002          0.947          -1.513         0              0              0
  70  Drawer          1.5            0.629          0.605          0              0              0
  71  Cabinet         -0.627         2.019          -1.449         0              0              0
  72  StoveBurner     1.764          0.902          0.384          0              270            0
  73  Drawer          1.5            0.538          0.600          0              0              0
  74  Sink            0.0            0.893          -1.434         0              0              0
  75  Drawer          1.5            0.782          1.220          0              270            0
  76  Window          2.217          1.565          -0.384         0              0              0
  77  CounterTop      -0.014         0.961          0.505          0              0              0
  78  Drawer          1.5            0.200          1.220          0              0              0
  79  StoveBurner     1.975          0.902          0.819          0              270            0
  80  Window          -3.240         1.616          2.693          0              270            0
  81  Cabinet         -1.389         0.474          -1.149         0              0              0
  82  LightSwitch     -0.153         1.291          3.700          0              180            0
  83  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  84  StoveKnob       1.602          0.917          0.570          0              270            180
  85  StoveKnob       1.602          0.917          0.625          0              270            180
  86  StoveKnob       1.602          0.917          0.739          0              270            180
  87  StoveKnob       1.602          0.917          0.680          0              270            180
  88  StoveKnob       1.602          0.917          0.462          0              270            180
  89  StoveKnob       1.602          0.917          0.517          0              270            180
  90  Microwave       1.932          0.899          -0.766         0              270            0
  91  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  92  Fridge          -1.764         0.0            0.014          0              90             0
  93  SinkBasin       -0.014         0.736          -1.435         0              0              0
  94  Toaster         1.977          0.900          -0.336         0              270            0
  95  Faucet          -0.020         1.137          -1.605         0              270            0
  96  Chair           -9.354         0.000          1.242          0              180            0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn right, walk three steps forward and then turn left to face the counter. | STEP 2: Pick up the knife next to the loaves of bread. | STEP 3: Turn right and to the sink. | STEP 4: Use the knife to slice the tomato in the sink. | STEP 5: Turn left toward the microwave then turn right and to the knife on the counter. | STEP 6: Put the knife down so it is resting on the other knife with the bladed end touching the salt shaker. | STEP 7: Turn left and go back to the sink. | STEP 8: Pick up the middle piece of sliced tomato. | STEP 9: Turn left and go to the microwave. | STEP 10: Open the microwave, put the tomato inside, turn it on then take the tomato out and close it. | STEP 11: Turn left and walk back to the knives on the counter. | STEP 12: Put the tomato slice down so it is standing up in front of the black kettle. | END