Task: rinse off a tomato slice and cook it in 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           -0.75          0.931          -0.75          0              180            0
   1  DishSponge      -1.339         0.202          -1.482         0              0              0              56
   2  DishSponge      -0.222         0.203          -1.553         0              0              0              57
   3  Kettle          0.250          1.057          -1.4           0              0              0              60
   4  Kettle          1.666          1.020          -1.411         0              0              0              54
   5  Fork            1.015          1.043          0.676          0              0              0              50
   6  Fork            0.657          1.047          -1.129         0              0              0              48
   7  Spoon           1.181          1.044          0.589          0              0              0              50
   8  Spoon           0.989          1.048          -1.397         0              0              0              48
   9  Spatula         0.160          1.058          0.415          0              90             0              50
  10  Egg             -1.303         1.543          2.063          0              90             0              63
  11  Egg             -1.090         0.762          2.063          0              90             0              63
  12  Plate           -1.027         0.215          -1.555         0              0              0              56
  13  Plate           0.885          1.577          -1.764         0              0              0              52
  14  Knife           -0.517         1.072          -1.397         0              0              0              48
  15  Tomato          0.892          1.104          0.181          0              90             0              46
  16  Bowl            -1.303         1.488          1.885          0              90             0              63
  17  PepperShaker    -0.491         0.198          -1.553         0              0              0              57
  18  PepperShaker    0.809          1.560          -1.538         0              0              0              52
  19  Lettuce         -1.095         1.023          2.242          0              90             0              63
  20  Apple           1.798          0.166          2.358          0              270            0              64
  21  Apple           -1.423         1.756          2.331          0              90             0              63
  22  SoapBottle      0.065          1.044          0.199          0              0              0              50
  23  Apple           1.612          1.086          0.199          0              0              0              50
  24  Potato          1.238          1.100          -1.181         0              0              0              48
  25  Fork            1.347          1.043          0.676          0              0              0              50
  26  Kettle          -1.261         2.029          -1.555         0              0              0              55
  27  Pan             0.801          0.199          -1.484         0              270            0              59
  28  Tomato          1.612          1.094          0.091          0              0              0              50
  29  SaltShaker      1.512          1.014          -1.411         0              0              0              54
  30  Egg             -1.064         1.018          1.974          0              90             0              63
  31  Cup             0.892          1.055          0.331          0              90             0              46
  32  Spatula         -0.296         1.053          -1.277         0              255.000        0              48
  33  Knife           1.790          1.069          0.738          0              0              0              50
  34  Lettuce         0.065          1.103          0.630          0              0              0              50
  35  ButterKnife     -0.432         1.046          -1.289         0              0              0              48
  36  PepperShaker    1.247          0.194          -1.339         0              0              0              59
  37  DishSponge      -1.339         0.202          -1.627         0              0              0              56
  38  Plate           -1.339         0.215          -1.265         0              0              0              56
  39  Bread           0.823          1.120          -1.289         0              0              0              48
  40  Spoon           0.717          1.054          0.131          0              90             0              46
  41  Pot             0.120          1.053          -1.630         0              0              0              51
  42  Mug             1.765          1.081          0.331          0              270            0              66
  43  Bowl            -1.029         2.027          -1.482         0              0              0              55
  44  StoveBurner     0.389          1.043          -1.630         0              0              0
  45  SinkBasin       1.211          0.882          0.236          0              90             0
  46  Sink            0.928          0.941          0.324          0              90             0
  47  StoveBurner     0.000          1.048          -1.399         0              0              0
  48  CounterTop      0.196          1.082          -1.504         0              0              0
  49  StoveBurner     0.5            1.048          -1.399         0              0              0
  50  CounterTop      0.968          1.078          0.415          0              0              0
  51  StoveBurner     0.120          1.043          -1.630         0              0              0
  52  Cabinet         1.322          1.955          -1.309         0              0              0
  53  Cabinet         -0.866         1.955          -1.309         0              0              0
  54  Cabinet         1.993          1.403          -1.110         0              0              0
  55  Cabinet         -1.547         2.001          -1.110         0              0              0
  56  Cabinet         -1.526         0.593          -1.110         0              0              0
  57  Cabinet         -0.852         0.589          -1.110         0              0              0
  58  Cabinet         1.990          0.593          -1.110         0              0              0
  59  Cabinet         1.336          0.589          -1.110         0              0              0
  60  StoveBurner     0.250          1.048          -1.399         0              0              0
  61  Toaster         -0.550         1.035          -1.776         0              0              0
  62  Microwave       -1.189         1.624          -1.284         0              0              0
  63  Fridge          -1.286         0.020          1.832          0              90             0
  64  GarbageCan      1.856          -0.019         2.386          0              270            0
  65  LightSwitch     1.016          1.360          2.619          0              180            0
  66  CoffeeMachine   1.929          1.031          0.440          0              270            0
  67  StoveKnob       0.0            1.046          -1.220         0              0              0
  68  StoveKnob       0.090          1.046          -1.220         0              0              0
  69  StoveKnob       0.246          1.046          -1.220         0              0              0
  70  StoveKnob       0.490          1.046          -1.220         0              0              0
  71  StoveKnob       0.389          1.046          -1.220         0              0              0
  72  Faucet          1.277          1.265          0.384          0              90             0
  73  Chair           0.343          0.031          0.976          0              166.747        0
  74  Chair           1.008          0.031          1.034          0              180            0
  75  Chair           1.575          0.031          1.050          0              210.000        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: look down and turn left then walk straight then turn right towards the counter | STEP 2: pick up the butter knife in front of the other knife | STEP 3: turn left walk straight then turn left towards the sink and walk straight | STEP 4: cut the tomato near the sink with the knife | STEP 5: put the knife into the sink | STEP 6: pick up a tomato slice off of the counter | STEP 7: put the tomato slice into the sink and fill the sink with water then drain the water and pick up the tomato slice | STEP 8: turn left and walk straight towards the wall and turn left and walk straight towards the oven and look up | STEP 9: open the microwave and put the tomato slice inside and close the door | END