Task: Slice a tomato, cook a slice 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           0.25           0.900          -0.25          0              270            0
   1  Statue          2.798          0.559          0.297          0              180            0              84
   2  Ladle           -1.278         0.950          0.135          0              0              0              71
   3  DishSponge      2.900          0.879          0.168          0              180            0              84
   4  DishSponge      -0.777         0.910          -1.760         0              0              0              78
   5  ButterKnife     -1.018         0.911          -1.760         0              0              0              78
   6  Pot             -1.289         0.957          -0.756         0              180            0              53
   7  Pot             -1.056         0.956          -1.127         0              0              0              75
   8  Spatula         -0.657         0.709          -1.979         0              90             0              48
   9  Fork            -0.375         1.132          0.618          0              0              0              74
  10  Spoon           -0.252         0.696          0.181          0              180            0              77
  11  Egg             2.042          0.096          0.080          0              0              0              81
  12  Plate           1.688          0.115          -1.332         0              0              0              52
  13  Plate           -1.312         1.659          -0.353         0              0              0              61
  14  Knife           -1.244         0.907          -0.261         90             5.921          0              71
  15  SoapBottle      2.491          0.879          0.087          0              180            0              82
  16  Bowl            -1.356         1.655          -1.852         0              0              0              60
  17  PepperShaker    -0.152         1.127          0.618          0              0              0              74
  18  Bread           1.945          1.509          -0.365         0              270            0              85
  19  Bread           1.945          1.180          -0.737         0              270            0              85
  20  Pan             1.743          0.9            -1.969         0              308.846        0              78
  21  Knife           -0.031         0.786          -2.063         0              90             0              88
  22  Bowl            2.000          1.424          -0.644         0              270            0              85
  23  Fork            -0.849         0.914          0.188          0              0              0              71
  24  Cup             0.101          0.750          -1.938         0              0              0              88
  25  Ladle           -1.072         0.173          -0.296         0              90             0              65
  26  Apple           1.924          0.111          0.138          0              0              0              81
  27  Kettle          1.419          0.912          -2.098         0              0              0              78
  28  Vase            -1.322         0.913          -1.722         0              0              0              78
  29  Potato          2.055          0.847          -0.271         0              270            0              85
  30  Pot             -1.056         0.956          -0.672         0              180            0              50
  31  Bread           -1.145         0.987          -0.209         1.784          0              0              71
  32  Plate           -0.598         1.129          0.573          0              0              0              74
  33  Spatula         -0.376         0.778          -1.952         0              270            0              88
  34  PaperTowelRoll  -0.420         1.017          0.188          0              0              0              71
  35  Vase            0.071          1.137          0.573          0              0              0              74
  36  Egg             -0.997         0.947          -0.231         0              0              0              71
  37  SoapBottle      -0.689         0.112          0.089          0              180            0              73
  38  SaltShaker      -0.120         0.112          0.204          0              180            0              66
  39  Lettuce         2.000          0.893          -0.737         0              270            0              85
  40  PepperShaker    1.513          0.113          -1.136         0              0              0              52
  41  ButterKnife     -0.203         0.763          -2.008         0              0              0              88
  42  DishSponge      -0.697         0.111          -1.875         0              0              0              63
  43  Vase            -0.205         0.911          0.135          0              0              0              71
  44  Spoon           -0.611         0.695          0.190          0              180            0              72
  45  Tomato          -0.290         0.812          -1.897         0              0              0              88
  46  Mug             0.501          0.955          -1.900         0              0              0              94
  47  Statue          -0.657         0.918          -2.014         0              90             0              78
  48  Drawer          -0.819         0.75           -1.690         0              0              0
  49  Cabinet         -1.149         2.264          -0.838         0              90             0
  50  StoveBurner     -1.056         0.949          -0.671         0              180            0
  51  Cabinet         1.738          2.019          -2.000         0              0              0
  52  Cabinet         1.389          0.469          -1.059         0              0              0
  53  StoveBurner     -1.289         0.949          -0.755         0              180            0
  54  Faucet          -0.157         1.052          -2.196         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              0              0
  56  Cabinet         1.75           2.019          -1.399         0              0              0
  57  Cabinet         1.179          2.019          -2.0           0              0              0
  58  Cabinet         0.199          2.019          -2.0           0              0              0
  59  Cabinet         -1.100         2.019          -2.0           0              0              0
  60  Cabinet         -1.149         2.019          -1.979         0              0              0
  61  Cabinet         -1.149         2.019          -0.770         0              0              0
  62  Cabinet         -1.149         2.019          0.380          0              0              0
  63  Cabinet         -0.819         0.469          -1.689         0              0              0
  64  Cabinet         -0.839         0.469          -1.664         0              0              0
  65  Cabinet         -0.839         0.469          -0.049         0              0              0
  66  Cabinet         -0.414         0.370          -0.009         0              0              0
  67  Sink            -0.118         0.875          -2.009         0              0              0
  68  StoveBurner     -1.289         0.949          -1.019         0              0              0
  69  Cabinet         0.119          2.264          -2.0           0              0              0
  70  Cabinet         -0.459         2.264          -2.0           0              0              0
  71  CounterTop      -0.665         0.949          0.188          0              0              0
  72  Drawer          -0.449         0.75           -0.010         0              180            0
  73  Cabinet         -0.450         0.469          -0.009         0              0              0
  74  CounterTop      -0.630         1.167          0.573          0              0              0
  75  StoveBurner     -1.056         0.949          -1.126         0              0              0
  76  Cabinet         1.376          0.460          -1.685         0              0              0
  77  Drawer          -0.070         0.75           -0.009         0              180            0
  78  CounterTop      1.159          0.946          -2.013         0              0              0
  79  Cabinet         -1.150         2.264          -1.418         0              90             0
  80  HousePlant      -1.246         1.108          0.606          0              0              0
  81  GarbageCan      1.923          -0.010         0.137          0              0              0
  82  Shelf           2.759          0.880          0.144          0              0              0
  83  Microwave       1.827          0.900          -1.354         0              270            0
  84  Shelf           2.759          0.552          0.145          0              0              0
  85  Fridge          1.975          0.0            -0.537         0              0              0
  86  LightSwitch     0.404          1.297          2.0            0              180            0
  87  Shelf           2.760          0.172          0.145          0              0              0
  88  SinkBasin       -0.129         0.752          -2.007         0              0              0
  89  StoveKnob       -0.873         0.903          -0.827         45             90             0
  90  StoveKnob       -0.873         0.903          -0.676         45             90             0
  91  StoveKnob       -0.873         0.903          -0.966         45             90             0
  92  StoveKnob       -0.873         0.903          -1.123         45             90             0
  93  Toaster         0.840          0.900          -2.057         0              0              0
  94  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  95  ShelvingUnit    2.760          0.006          0.144          0              0              0
  96  Stool           -0.826         0.010          0.908          0              347.513        0
  97  Stool           -0.132         0.010          0.883          0              71.555         0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Go forward a bit, turn left and go to the sink | STEP 2: Pick up the knife in the sink | STEP 3: Slice the tomato in the sink | STEP 4: Turn left, go to the microwave | STEP 5: Put the knife in the microwave | STEP 6: Turn around, go forward, turn left at the sink | STEP 7: Pick up a tomato slice from the sink | STEP 8: Turn left, go to the microwave | STEP 9: Put the tomato slice in the microwave, start the microwave, wait, pick up the tomato slice from the microwave | STEP 10: Turn around, go forward, turn left at the sink | STEP 11: Put the tomato slice in the sink | END