Task: cut a slice of tomato, chill it, then 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           -1.0           0.900          2.5            0              90             0
   1  Pan             1.559          0.988          4.294          0              0              0              54
   2  Potato          2.094          1.550          5.751          0              270            0              78
   3  Potato          1.387          0.925          2.627          0              90             0              79
   4  DishSponge      1.400          0.141          4.763          0              0              0              58
   5  DishSponge      1.135          0.992          4.808          0              0              0              57
   6  Pot             1.32           0.988          3.848          0              0              0              55
   7  Egg             1.966          1.565          5.501          0              270            0              78
   8  Cup             1.456          1.573          1.410          0              0              0              56
   9  Knife           -0.180         0.789          6.677          0              225            0              92
  10  Tomato          -0.401         0.809          6.456          0              135            0              92
  11  SoapBottle      0.256          0.760          6.240          0              135            0              92
  12  SoapBottle      1.489          2.207          3.794          0              0              0              44
  13  Bowl            1.582          0.991          0.440          0              0              0              56
  14  Bowl            -0.621         0.143          0.506          0              0              0              64
  15  PepperShaker    0.958          1.574          0.383          0              0              0              70
  16  PepperShaker    0.440          1.574          0.119          0              0              0              70
  17  SaltShaker      1.225          0.987          0.895          0              0              0              56
  18  SaltShaker      -0.245         0.755          6.830          0              135            0              92
  19  Bread           0.148          0.829          6.609          0              225            0              92
  20  Mug             2.009          1.510          6.001          0              270            0              78
  21  Bowl            0.745          0.142          0.576          0              0              0              62
  22  Bread           1.099          1.048          0.434          0              0              0              56
  23  Egg             0.273          1.147          0.278          0              0              0              72
  24  Knife           1.493          1.022          3.231          0              0              0              56
  25  Fork            -0.621         0.760          6.479          0              90             0              92
  26  Apple           1.966          1.590          5.376          0              270            0              78
  27  Kettle          0.622          1.580          0.207          0              0              0              63
  28  Plate           1.573          0.141          2.720          0              0              0              68
  29  SaltShaker      -0.621         0.755          6.416          0              270            0              92
  30  Lettuce         -0.443         0.848          6.851          0              135            0              92
  31  SoapBottle      -0.486         0.760          6.151          0              225            0              92
  32  Spatula         1.332          0.905          2.239          0              180            0              79
  33  PaperTowelRoll  1.135          1.096          3.044          0              0              0              56
  34  Pot             1.406          0.141          3.291          0              0              0              67
  35  Potato          -0.284         0.794          6.323          0              0              0              92
  36  ButterKnife     -0.158         0.760          6.541          0              90             0              92
  37  PepperShaker    1.368          1.572          1.105          0              0              0              66
  38  Pan             1.573          0.138          1.938          0              90             0              45
  39  Tomato          1.314          1.042          0.213          0              0              0              56
  40  DishSponge      -0.346         0.759          6.632          0              0              0              92
  41  Cup             1.497          0.887          2.627          0              90             0              79
  42  Spoon           0.056          0.773          0.563          0              0              0              53
  43  Mug             1.384          1.043          0.847          0              270            0              56
  44  Cabinet         1.307          2.455          4.360          0              0              0
  45  Cabinet         1.054          0.422          1.710          0              0              0
  46  Drawer          1.280          0.808          4.718          0              0              0
  47  Cabinet         1.307          2.455          3.607          0              0              0
  48  Drawer          0.736          0.802          0.521          0              0              0
  49  Drawer          1.276          0.802          3.291          0              0              0
  50  StoveBurner     1.562          0.982          3.848          0              0              0
  51  StoveBurner     1.317          0.982          4.294          0              0              0
  52  Drawer          -0.482         0.802          0.521          0              0              0
  53  Drawer          0.124          0.802          0.521          0              0              0
  54  StoveBurner     1.559          0.982          4.294          0              0              0
  55  StoveBurner     1.320          0.982          3.848          0              0              0
  56  CounterTop      1.391          1.028          0.897          0              0              0
  57  CounterTop      1.391          1.028          4.716          0              0              0
  58  Cabinet         1.054          0.422          4.548          0              0              0
  59  Cabinet         1.317          2.134          0.517          0              0              0
  60  Cabinet         1.317          2.134          4.889          0              0              0
  61  Cabinet         1.317          2.134          3.095          0              0              0
  62  Cabinet         0.443          0.422          0.743          0              0              0
  63  Cabinet         1.270          2.134          0.434          0              0              0
  64  Cabinet         -0.775         0.422          0.743          0              0              0
  65  Cabinet         -0.168         0.422          0.743          0              0              0
  66  Cabinet         1.317          2.134          1.534          0              0              0
  67  Cabinet         1.054          0.422          2.990          0              0              0
  68  Cabinet         1.054          0.422          2.944          0              0              0
  69  Cabinet         -0.263         2.134          0.434          0              0              0
  70  Cabinet         0.252          2.134          0.434          0              0              0
  71  Sink            1.391          1.006          2.326          0              0              0
  72  Microwave       0.108          0.981          0.262          0              0              0
  73  HousePlant      -0.165         0.826          6.444          0              0              0
  74  CoffeeMachine   1.551          0.982          0.953          0              270            0
  75  Toaster         1.473          0.981          4.715          0              270            0
  76  Window          -2.065         1.916          3.626          90             90             0
  77  Window          1.763          2.007          2.299          90             270            0
  78  Fridge          2.035          0.0            5.625          0              0              0
  79  SinkBasin       1.387          0.880          2.338          0              90             0
  80  GarbageCan      2.001          -0.044         6.503          0              0              0
  81  StoveKnob       1.140          0.934          3.987          45             270            0
  82  StoveKnob       1.140          0.934          4.309          45             270            0
  83  StoveKnob       1.140          0.934          4.140          45             270            0
  84  StoveKnob       1.140          0.934          3.824          45             270            0
  85  Vase            -0.226         0.834          6.993          0              0              0
  86  Vase            2.098          0.043          7.070          0              257.232        0
  87  Vase            -0.594         0.835          6.130          0              225            0
  88  LightSwitch     -2.0           1.549          6.045          0              90             0
  89  Safe            2.046          1.072          7.054          0              257.232        0
  90  Faucet          1.534          1.025          2.371          0              294.391        0
  91  Blinds          1.738          2.563          2.312          0              90             0
  92  DiningTable     -0.156         0.000          6.474          0              0              0
  93  Chair           0.291          0.002          6.142          0              310.162        0
  94  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: approach the counter to the left of the sink | STEP 2: pick up the knife from the counter | STEP 3:  take the knife to the counter to your right where the loaf of bread is | STEP 4: cut the tomato to the left | STEP 5: walk the knife over to the dishwasher behind you | STEP 6: stand the knife up by it's tip on the counter above the dishwasher | STEP 7: walk back to the counter with the bread and sliced tomato | STEP 8: pick up the tomato slice | STEP 9: take the slice to the fridge | STEP 10: put the slice in the fridge, wait, then remove | STEP 11: take the slice to the the microwave | STEP 12: cook the slice in the microwave  | END