Task: Putting a hot tomato slice in front of the sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          1.5            0              180            0
   1  Potato          -2.892         0.863          2.309          0              90             0              60
   2  Potato          -2.947         1.484          1.957          0              90             0              60
   3  Fork            -2.563         0.693          1.547          0              270            0              47
   4  Spoon           -1.133         0.699          0.444          0              270            0              46
   5  Spoon           -0.363         0.698          0.912          0              90             0              44
   6  Plate           -2.840         0.828          0.129          0              0              0              42
   7  Knife           -2.491         0.849          0.203          0              180            0              42
   8  SoapBottle      -2.839         1.432          0.238          0              45             0              48
   9  Bowl            -2.781         1.140          2.133          0              90             0              60
  10  Bowl            -2.000         0.121          0.401          0              0              0              54
  11  SaltShaker      -2.397         1.431          0.169          0              0              0              49
  12  SaltShaker      -2.813         0.818          0.953          0              0              0              42
  13  Lettuce         -2.726         1.529          2.221          0              90             0              60
  14  Apple           -0.092         0.896          1.326          0              0              0              42
  15  Fork            -2.496         0.692          1.547          0              270            0              47
  16  Ladle           -2.609         0.165          1.471          0              0              0              53
  17  Pan             -0.244         0.829          1.684          0              0              0              41
  18  SoapBottle      -0.262         0.054          2.539          0              0              0              62
  19  Pot             -0.518         0.829          2.075          0              180            0              39
  20  Tomato          -2.608         0.873          0.129          0              0              0              42
  21  Potato          -2.837         1.484          2.397          0              90             0              60
  22  SaltShaker      -2.375         0.818          0.055          0              0              0              42
  23  Plate           -1.522         0.130          0.401          0              0              0              55
  24  Spatula         -2.581         0.838          0.789          0              90             0              42
  25  Knife           -2.662         0.819          0.557          90             300.034        0              42
  26  Egg             -2.877         0.945          1.125          0              90             0              61
  27  Cup             -2.844         0.921          1.284          0              90             0              61
  28  ButterKnife     -2.493         0.812          0.476          0              50.734         0              42
  29  Lettuce         -1.836         0.741          0.238          0              55.910         0              69
  30  PepperShaker    -2.719         1.430          0.228          0              45             0              48
  31  DishSponge      -0.092         0.823          0.992          0              0              0              42
  32  Bread           -0.979         0.855          0.249          0              29.999         0              42
  33  Spoon           -1.189         0.699          0.377          0              90             0              46
  34  Mug             -0.646         0.888          0.367          0              0              0              70
  35  Bowl            -2.540         1.845          1.926          0              0              0              36
  36  Cabinet         -2.377         2.015          1.720          0              0              0
  37  StoveBurner     -0.244         0.820          2.075          0              180            0
  38  Drawer          -0.402         0.703          1.252          0              0              0
  39  StoveBurner     -0.518         0.820          2.075          0              180            0
  40  Sink            -1.838         0.726          0.343          0              180            0
  41  StoveBurner     -0.244         0.820          1.684          0              0              0
  42  CounterTop      -1.557         0.859          0.277          0              0              0
  43  StoveBurner     -0.518         0.820          1.684          0              0              0
  44  Drawer          -0.404         0.704          0.912          0              0              0
  45  Drawer          -0.861         0.709          0.420          0              0              0
  46  Drawer          -1.133         0.706          0.418          0              0              0
  47  Drawer          -2.589         0.703          1.511          0              0              0
  48  Cabinet         -2.772         1.803          0.508          0              0              0
  49  Cabinet         -2.460         1.803          0.231          0              0              0
  50  Cabinet         -2.781         1.798          0.825          0              0              0
  51  Cabinet         -2.781         1.798          0.815          0              0              0
  52  Cabinet         -2.377         2.009          2.581          0              0              0
  53  Cabinet         -2.442         0.385          1.672          0              0              0
  54  Cabinet         -2.238         0.385          0.564          0              0              0
  55  Cabinet         -1.286         0.385          0.564          0              0              0
  56  Cabinet         -1.262         0.385          0.565          0              0              0
  57  Cabinet         -0.734         0.385          0.565          0              0              0
  58  Cabinet         -0.549         0.385          0.751          0              0              0
  59  Cabinet         -0.549         0.385          1.412          0              0              0
  60  Fridge          -2.782         0.0            2.221          0              0              0
  61  Microwave       -2.794         0.812          1.348          0              90             0
  62  GarbageCan      -0.329         2.205          2.606          0              0              0
  63  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  64  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  65  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  66  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  67  Window          -1.720         1.342          -0.208         90             0              0
  68  Toaster         -0.171         0.812          0.735          0              270            0
  69  SinkBasin       -1.745         0.687          0.295          0              0              0
  70  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  71  LightSwitch     -0.615         1.378          3.0            0              180            0
  72  Faucet          -1.686         0.954          0.176          0              236.223        0
  73  Stool           -1.008         0.008          1.955          0              18.279         0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Go to the right of the sink | STEP 2: Grab the large knife off of the counter | STEP 3: Cut the tomato on the counter into slices | STEP 4: Turn around and go to the microwave | STEP 5: Put the knife in the microwave | STEP 6: Turn left and stop at the sink | STEP 7: Grab a slice of tomato off of the counter | STEP 8: Turn around and go to the microwave | STEP 9: Heat the tomato in the microwave and then take it out | STEP 10: Turn to the left and face the sink | STEP 11: Put the tomato on the counter in the front of the sink | END