Task: Slice a tomato, cook a slice in the microwave, put it in 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           -0.25          0.899          0.5            0              0              0
   1  Pencil          -3.712         0.068          6.457          0              270            0              96
   2  Pencil          -3.852         0.923          5.182          0              90             0              70
   3  Potato          -0.258         0.958          4.944          0              0              0              55
   4  ButterKnife     -4.26          0.923          4.122          0              90             0              70
   5  WineBottle      -2.109         0.924          1.573          0              0              0              52
   6  Spoon           -0.258         0.926          5.932          0              90             0              55
   7  Spoon           -0.488         0.926          5.603          0              180            0              55
   8  Spatula         -4.055         0.769          2.235          0              90             0              50
   9  Spatula         -3.859         0.938          1.875          0              270            0              70
  10  Plate           -0.401         1.071          3.231          0              270            0              103
  11  Plate           -4.214         1.457          1.966          0              45             0              71
  12  SoapBottle      -4.033         0.923          4.640          0              90             0              70
  13  Tomato          -4.031         0.980          1.951          0              0              0              70
  14  Tomato          -2.026         0.980          1.951          0              0              0              52
  15  Bowl            -4.159         0.787          3.410          0              270            0              102
  16  SaltShaker      -3.229         0.741          5.162          0              180            0              82
  17  Lettuce         -1.693         1.018          1.8            0              0              0              52
  18  Lettuce         -0.242         1.165          3.479          0              90             0              103
  19  Bread           -3.613         1.003          5.182          0              90             0              70
  20  Egg             -4.308         0.826          3.347          0              270            0              102
  21  Apple           -0.342         1.389          3.231          0              270            0              103
  22  Knife           -3.733         0.953          5.336          0              90             0              70
  23  Potato          -0.383         1.614          3.409          0              270            0              103
  24  Fork            -4.242         0.924          2.766          0              0              0              70
  25  Bowl            -3.419         0.079          1.927          0              0              0              45
  26  Plate           -4.196         0.791          3.159          0              270            0              102
  27  Lettuce         -3.675         0.164          6.375          0              0              0              96
  28  Bread           -0.565         1.004          5.603          0              0              0              55
  29  Tomato          -3.859         0.980          2.026          0              0              0              70
  30  WineBottle      -4.155         1.457          1.816          0              45             0              71
  31  Spatula         -3.340         0.938          1.875          0              0              0              70
  32  PaperTowelRoll  -1.610         1.027          1.951          0              0              0              52
  33  Cup             -0.342         1.334          3.479          0              270            0              103
  34  Pencil          -3.768         0.746          1.956          0              0              0              47
  35  Pan             -2.924         0.930          2.012          0              0              0              53
  36  Pot             -2.924         0.930          1.712          0              180            0              67
  37  SaltShaker      -3.373         1.449          1.573          0              0              0              44
  38  SoapBottle      -4.123         0.083          3.084          0              0              0              83
  39  PepperShaker    -0.224         2.132          6.339          0              180            0              54
  40  ButterKnife     -4.242         0.923          2.533          0              0              0              70
  41  DishSponge      -4.184         0.923          5.418          0              90             0              70
  42  Spoon           -4.335         0.924          3.863          0              90             0              70
  43  Mug             -4.242         0.918          2.416          0              0              0              70
  44  Cabinet         -3.203         1.931          1.777          0              0              0
  45  Cabinet         -3.187         0.390          2.089          0              0              0
  46  Cabinet         -0.637         0.387          6.882          0              180            0
  47  Drawer          -3.797         0.781          1.961          0              0              0
  48  Cabinet         -3.036         0.387          5.029          0              90             0
  49  Drawer          -0.509         0.775          5.268          0              270            0
  50  Drawer          -4.125         0.798          2.499          0              0              0
  51  Cabinet         -0.331         2.249          4.308          0              180            0
  52  CounterTop      -1.872         0.958          1.799          0              0              0
  53  StoveBurner     -2.924         0.924          2.012          0              0              0
  54  Cabinet         -0.331         2.249          6.806          0              180            0
  55  CounterTop      -0.345         0.960          5.603          0              0              0
  56  Cabinet         -3.039         1.935          5.321          0              90             0
  57  Cabinet         -3.922         0.397          2.088          0              0              0
  58  StoveBurner     -2.467         0.924          2.012          0              0              0
  59  Cabinet         -0.331         2.249          5.505          0              180            0
  60  Drawer          -0.509         0.775          4.617          0              270            0
  61  Drawer          -3.509         0.777          5.157          0              180            0
  62  Cabinet         -3.961         0.388          2.878          0              0              0
  63  Cabinet         -3.961         0.388          4.342          0              0              0
  64  Cabinet         -0.637         0.387          5.582          0              180            0
  65  Cabinet         -0.637         0.388          4.299          0              180            0
  66  Cabinet         -0.637         0.388          5.599          0              180            0
  67  StoveBurner     -2.924         0.924          1.712          0              180            0
  68  Drawer          -1.859         0.775          1.961          0              0              0
  69  Cabinet         -0.331         2.249          5.609          0              180            0
  70  CounterTop      -4.260         0.958          4.943          0              90             0
  71  Cabinet         -4.284         1.931          2.226          0              0              0
  72  Cabinet         -0.331         2.249          3.010          0              180            0
  73  Drawer          -3.801         0.777          5.157          0              180            0
  74  Cabinet         -4.112         1.935          5.321          0              90             0
  75  Cabinet         -3.968         0.388          3.662          0              0              0
  76  Drawer          -3.418         0.777          1.961          0              0              0
  77  Drawer          -4.090         0.777          4.661          0              90             0
  78  Faucet          -4.441         0.909          3.288          270            0              0
  79  Cabinet         -0.331         2.249          4.207          0              180            0
  80  Cabinet         -3.961         0.388          2.119          0              0              0
  81  Drawer          -0.509         0.775          5.920          0              270            0
  82  Drawer          -3.193         0.777          5.157          0              180            0
  83  Cabinet         -3.968         0.388          2.894          0              0              0
  84  Cabinet         -3.667         0.387          5.029          0              90             0
  85  StoveBurner     -2.469         0.924          1.712          0              270            0
  86  Cabinet         -1.539         0.388          2.090          0              0              0
  87  Sink            -4.190         0.921          3.279          0              0              0
  88  Cabinet         -3.641         0.387          5.029          0              90             0
  89  Cabinet         -1.583         1.931          1.777          0              0              0
  90  Drawer          -0.509         0.775          6.568          0              270            0
  91  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  92  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  93  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  96  GarbageCan      -3.711         -0.030         6.376          0              270            0
  97  Toaster         -3.578         0.912          1.763          0              0              0
  98  Curtains        -4.522         2.252          3.391          90             90             0
  99  Window          -4.868         1.629          3.309          90             270            0
 100  Microwave       -2.693         1.430          1.689          0              0              0
 101  LightSwitch     -1.588         1.169          1.506          0              0              0
 102  SinkBasin       -4.196         0.780          3.276          0              270            0
 103  Fridge          -0.324         -0.001         3.602          0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Walk towards the counter | STEP 2: Grab a knife from the counter | STEP 3: Walk towards the stove counter | STEP 4: Slice tomato on the counter | STEP 5: Walk towards the sink | STEP 6: Put knife in the sink | STEP 7: Walk towards the stove counter | STEP 8: Grab a tomato slice from the counter | STEP 9: Walk with the tomato slice towards the microwave | STEP 10: Put slice of tomato inside the microwave, cook it, take it out | STEP 11: Walk towards the sink with the tomato slice | STEP 12: Put the tomato slice in the sink | END