Task: pick up knife, put into microwave, pick up tomato, clean tomato in sink, place on counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          2.5            0              0              0
   1  Potato          -2.671         0.863          2.485          0              90             0              59
   2  Potato          -2.840         0.862          0.129          0              0              0              41
   3  Fork            -0.817         0.824          0.352          0              90             0              41
   4  Fork            -2.698         0.692          1.474          0              90             0              46
   5  Tomato          -2.608         0.873          0.129          0              0              0              41
   6  Bowl            -2.784         1.431          0.293          0              45             0              47
   7  SaltShaker      -2.416         1.431          0.142          0              90             0              48
   8  PepperShaker    -2.905         1.430          0.708          0              0              0              50
   9  Lettuce         -2.782         1.529          2.221          0              90             0              59
  10  Lettuce         -2.837         0.908          2.133          0              90             0              59
  11  Mug             -2.782         1.138          2.485          0              90             0              59
  12  Mug             -2.726         1.440          2.485          0              90             0              59
  13  Apple           -2.744         0.994          1.178          0              270            0              60
  14  Fork            -2.631         0.692          1.547          0              270            0              46
  15  Ladle           -2.813         0.867          0.871          0              0              0              41
  16  Pan             -0.244         0.829          1.684          0              0              0              40
  17  SoapBottle      -2.000         0.123          0.401          0              0              0              53
  18  Pot             -0.518         0.829          2.075          0              180            0              38
  19  Tomato          -2.671         1.495          2.045          0              90             0              59
  20  Potato          -0.477         0.862          1.326          0              0              0              41
  21  SaltShaker      -2.115         0.120          0.401          0              0              0              53
  22  Plate           -2.586         0.813          0.309          0              0              0              41
  23  Spatula         -0.341         0.696          1.194          0              45             0              37
  24  Knife           -2.662         0.819          0.557          90             300.034        0              41
  25  Egg             -2.726         1.469          2.397          0              90             0              59
  26  Cup             -1.151         0.823          0.352          0              0              0              41
  27  ButterKnife     -1.876         0.823          0.539          0              0              0              41
  28  Lettuce         -0.329         0.140          2.606          0              0              0              61
  29  PepperShaker    -2.530         0.116          1.431          0              0              0              52
  30  DishSponge      -1.151         0.823          0.055          0              0              0              41
  31  Bread           -0.979         0.855          0.249          0              29.999         0              41
  32  Spoon           -2.581         0.824          0.953          0              0              0              41
  33  Mug             -0.646         0.888          0.367          0              0              0              69
  34  Bowl            -2.726         1.140          2.133          0              90             0              59
  35  Cabinet         -2.377         2.015          1.720          0              0              0
  36  StoveBurner     -0.244         0.820          2.075          0              180            0
  37  Drawer          -0.402         0.703          1.252          0              0              0
  38  StoveBurner     -0.518         0.820          2.075          0              180            0
  39  Sink            -1.838         0.726          0.343          0              180            0
  40  StoveBurner     -0.244         0.820          1.684          0              0              0
  41  CounterTop      -1.557         0.859          0.277          0              0              0
  42  StoveBurner     -0.518         0.820          1.684          0              0              0
  43  Drawer          -0.404         0.704          0.912          0              0              0
  44  Drawer          -0.861         0.709          0.420          0              0              0
  45  Drawer          -1.133         0.706          0.418          0              0              0
  46  Drawer          -2.589         0.703          1.511          0              0              0
  47  Cabinet         -2.772         1.803          0.508          0              0              0
  48  Cabinet         -2.460         1.803          0.231          0              0              0
  49  Cabinet         -2.781         1.798          0.825          0              0              0
  50  Cabinet         -2.781         1.798          0.815          0              0              0
  51  Cabinet         -2.377         2.009          2.581          0              0              0
  52  Cabinet         -2.442         0.385          1.672          0              0              0
  53  Cabinet         -2.238         0.385          0.564          0              0              0
  54  Cabinet         -1.286         0.385          0.564          0              0              0
  55  Cabinet         -1.262         0.385          0.565          0              0              0
  56  Cabinet         -0.734         0.385          0.565          0              0              0
  57  Cabinet         -0.549         0.385          0.751          0              0              0
  58  Cabinet         -0.549         0.385          1.412          0              0              0
  59  Fridge          -2.782         0.0            2.221          0              0              0
  60  Microwave       -2.794         0.812          1.348          0              90             0
  61  GarbageCan      -0.329         2.205          2.606          0              0              0
  62  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  63  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  64  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  65  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  66  Window          -1.720         1.342          -0.208         90             0              0
  67  Toaster         -0.171         0.812          0.735          0              270            0
  68  SinkBasin       -1.745         0.687          0.295          0              0              0
  69  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  70  LightSwitch     -0.615         1.378          3.0            0              180            0
  71  Faucet          -1.686         0.954          0.176          0              236.223        0
  72  Stool           -1.008         0.008          1.955          0              18.279         0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: turn around, walk straight, turn right to the counter | STEP 2: pick up knife from the counter | STEP 3: turn to the left, look at the sink | STEP 4: turn around look at the sink | STEP 5: turn right , turn left to the microwave | STEP 6: open door, place knife in to microwave, close door | STEP 7: turn left, walk to the sink | STEP 8: pick up tomato from counter | STEP 9: turn around, turn to the right, turn right to the counter | STEP 10: place tomato in to the sink, turn water on, turn off water, pick up tomato | STEP 11: turn right, turn left to the counter | STEP 12: place tomato on to the counter | END