Task: pick up knife, cut tomato, cook in microwave, place in trash can

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          1.75           0              180            0
   1  Pan             -0.244         0.829          2.075          0              180            0              45
   2  Potato          -2.671         0.863          2.485          0              90             0              68
   3  Potato          -2.840         0.862          0.203          0              0              0              50
   4  Ladle           -2.375         0.867          0.500          0              0              0              50
   5  DishSponge      -1.967         0.697          0.210          0              0              0              77
   6  DishSponge      -2.882         1.434          1.372          0              0              0              58
   7  ButterKnife     -1.542         0.823          0.528          0              0              0              50
   8  Fork            -2.530         0.693          1.547          0              270            0              55
   9  Spoon           -1.217         0.699          0.444          0              270            0              54
  10  Egg             -1.709         0.847          0.073          0              0              0              50
  11  Egg             -2.726         1.469          2.133          0              90             0              68
  12  Bowl            -2.057         0.121          0.401          0              0              0              62
  13  SaltShaker      -2.882         1.429          1.588          0              0              0              58
  14  SaltShaker      -0.147         0.818          0.500          0              0              0              50
  15  PepperShaker    -2.729         1.430          0.348          0              45             0              56
  16  PepperShaker    -1.542         0.818          0.046          0              0              0              50
  17  Lettuce         -2.837         1.529          2.309          0              90             0              68
  18  Mug             -0.169         0.818          1.214          0              180            0              50
  19  Mug             -2.840         0.818          0.426          0              0              0              50
  20  Apple           -2.504         0.896          0.544          0              0              0              50
  21  Apple           -0.295         0.129          2.674          0              90             0              70
  22  Apple           -2.782         1.216          2.485          0              90             0              68
  23  Fork            -2.044         0.824          0.539          0              0              0              50
  24  Ladle           -0.371         0.738          0.879          0              45             0              52
  25  Pan             -0.244         0.829          1.684          0              0              0              49
  26  SoapBottle      -0.147         0.821          0.352          0              0              0              50
  27  Pot             -0.531         0.822          2.096          0              0              0              47
  28  Tomato          -2.658         0.873          0.707          0              0              0              50
  29  Potato          -2.837         1.484          2.133          0              90             0              68
  30  SaltShaker      -2.957         0.818          0.352          0              0              0              50
  31  Plate           -2.586         0.813          0.309          0              0              0              50
  32  Spatula         -1.857         0.712          0.295          0              0              0              77
  33  Knife           -1.207         0.849          0.539          0              0              0              50
  34  Egg             -2.726         1.167          1.957          0              90             0              68
  35  Cup             -2.648         0.121          1.431          0              0              0              61
  36  ButterKnife     -2.493         0.812          0.476          0              50.734         0              50
  37  Lettuce         -2.837         0.908          2.397          0              90             0              68
  38  PepperShaker    -2.569         0.116          1.589          0              0              0              61
  39  DishSponge      -2.258         0.823          0.055          0              0              0              50
  40  Bread           -0.979         0.855          0.249          0              29.999         0              50
  41  Spoon           -1.077         0.699          0.444          0              270            0              54
  42  Mug             -2.724         0.818          0.129          0              0              0              50
  43  Bowl            -2.726         0.821          2.133          0              90             0              68
  44  Cabinet         -2.377         2.015          1.720          0              0              0
  45  StoveBurner     -0.244         0.820          2.075          0              180            0
  46  Drawer          -0.402         0.703          1.252          0              0              0
  47  StoveBurner     -0.518         0.820          2.075          0              180            0
  48  Sink            -1.838         0.726          0.343          0              180            0
  49  StoveBurner     -0.244         0.820          1.684          0              0              0
  50  CounterTop      -1.557         0.859          0.277          0              0              0
  51  StoveBurner     -0.518         0.820          1.684          0              0              0
  52  Drawer          -0.404         0.704          0.912          0              0              0
  53  Drawer          -0.861         0.709          0.420          0              0              0
  54  Drawer          -1.133         0.706          0.418          0              0              0
  55  Drawer          -2.589         0.703          1.511          0              0              0
  56  Cabinet         -2.772         1.803          0.508          0              0              0
  57  Cabinet         -2.460         1.803          0.231          0              0              0
  58  Cabinet         -2.781         1.798          0.825          0              0              0
  59  Cabinet         -2.781         1.798          0.815          0              0              0
  60  Cabinet         -2.377         2.009          2.581          0              0              0
  61  Cabinet         -2.442         0.385          1.672          0              0              0
  62  Cabinet         -2.238         0.385          0.564          0              0              0
  63  Cabinet         -1.286         0.385          0.564          0              0              0
  64  Cabinet         -1.262         0.385          0.565          0              0              0
  65  Cabinet         -0.734         0.385          0.565          0              0              0
  66  Cabinet         -0.549         0.385          0.751          0              0              0
  67  Cabinet         -0.549         0.385          1.412          0              0              0
  68  Fridge          -2.782         0.0            2.221          0              0              0
  69  Microwave       -2.794         0.812          1.348          0              90             0
  70  GarbageCan      -0.329         2.205          2.606          0              0              0
  71  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  72  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  73  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  74  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  75  Window          -1.720         1.342          -0.208         90             0              0
  76  Toaster         -0.171         0.812          0.735          0              270            0
  77  SinkBasin       -1.745         0.687          0.295          0              0              0
  78  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  79  LightSwitch     -0.615         1.378          3.0            0              180            0
  80  Faucet          -1.686         0.954          0.176          0              236.223        0
  81  Stool           -1.008         0.008          1.955          0              18.279         0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: turn right, turn left, walk straight to the sink | STEP 2: pick up knife from the counter | STEP 3: turn right to the counter | STEP 4: cut tomato with the knife | STEP 5: turn right, turn left to the microwave | STEP 6: open door, put knife on shelf, close door | STEP 7: turn left, turn right to the counter | STEP 8: pick tomato off of the counter | STEP 9: turn right, turn left to the microwave | STEP 10: open door, place tomato on shelf, close door, cook, open door, remove tomato, close door | STEP 11: turn right, turn right, walk straight to the trash can | STEP 12: place tomato in the trash can | END