Task: cut a couple tomatoes and stick a knife through the top of one and prop a slice from the other up on the knife

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           1.124          -0.25          0              0              0
   1  Pan             -1.530         1.322          0.770          0              0              0              48
   2  WineBottle      -1.522         1.323          -3.425         0              0              0              48
   3  Kettle          1.053          0.346          -2.164         0              180            0              47
   4  Kettle          -1.308         1.324          -2.760         0              0              0              48
   5  Fork            0.636          1.323          -1.683         0              0              0              48
   6  Spoon           -1.603         0.421          -0.495         0              0              0              52
   7  Spatula         0.492          1.337          -2.789         0              0              0              48
   8  Spatula         -1.737         1.343          -1.049         0              270            0              55
   9  Pot             -1.660         1.329          1.744          0              0              0              48
  10  Egg             -1.920         1.363          -2.201         0              0              0              48
  11  Plate           -1.750         0.344          1.523          0              0              0              49
  12  Plate           -1.749         0.344          0.512          0              0              0              46
  13  Knife           0.349          1.352          -3.121         0              0              0              48
  14  Knife           -1.826         1.093          -0.542         0              0              0              66
  15  SoapBottle      0.206          1.323          -3.011         0              0              0              48
  16  Tomato          -1.954         1.084          -0.587         0              0              0              66
  17  Tomato          -1.401         1.356          2.069          0              0              0              48
  18  Mug             -1.790         1.318          -2.721         0              0              0              48
  19  Apple           1.095          1.806          2.171          0              270            0              61
  20  Bread           -1.530         1.397          -1.941         0              0              0              48
  21  Pot             0.900          0.351          -1.854         0              180            0              47
  22  Knife           -1.826         1.362          -0.911         0              180            0              55
  23  Bowl            0.506          1.321          -2.424         0              0              0              48
  24  Potato          0.766          1.362          -1.312         0              0              0              48
  25  SoapBottle      -1.401         1.323          -2.461         0              0              0              48
  26  Fork            -1.920         1.323          1.744          0              0              0              48
  27  Cup             1.110          1.205          1.238          0              0              0              73
  28  Kettle          -1.530         1.324          1.094          0              0              0              48
  29  Egg             1.181          1.351          0.861          0              270            0              73
  30  Pan             -0.749         1.332          -2.973         0              0              0              51
  31  SaltShaker      -1.602         0.338          -1.863         0              0              0              44
  32  WineBottle      -1.634         0.281          2.275          0              270            0              63
  33  Lettuce         -1.891         1.400          -1.073         1.301          0              355.701        55
  34  Spatula         -1.648         1.343          -1.324         0              0              0              55
  35  PaperTowelRoll  -2.179         1.427          1.744          0              0              0              48
  36  Tomato          0.861          1.241          1.222          0              0              0              73
  37  Plate           -1.920         1.323          -1.681         0              0              0              48
  38  PepperShaker    1.276          1.202          1.222          0              0              0              73
  39  DishSponge      -1.826         1.050          -0.633         0              0              0              66
  40  Spoon           -1.920         1.324          0.445          0              0              0              48
  41  Apple           1.056          1.724          1.604          0              270            0              61
  42  Mug             0.965          1.371          -1.534         0              270            0              69
  43  StoveBurner     -0.239         1.325          -3.301         0              180            0
  44  Cabinet         -1.461         0.775          -2.002         0              0              0
  45  StoveBurner     -0.630         1.325          -3.301         0              180            0
  46  Cabinet         -1.461         0.775          0.470          0              0              0
  47  Cabinet         0.578          0.776          -2.054         0              0              0
  48  CounterTop      -1.809         1.358          1.182          0              0              0
  49  Cabinet         -1.461         0.775          1.310          0              0              0
  50  Faucet          -2.063         1.362          -0.726         0              39.391         0
  51  StoveBurner     -0.749         1.325          -2.973         0              0              0
  52  Drawer          -1.610         0.681          -0.430         0              0              0
  53  Window          -2.566         1.799          -0.822         270            0              0
  54  Drawer          -1.610         0.681          -1.217         0              0              0
  55  Sink            -1.990         1.143          -0.975         0              0              0
  56  StoveBurner     -0.125         1.325          -2.973         0              0              0
  57  StoveKnob       -0.185         1.338          -2.741         0              270            180
  58  StoveKnob       -0.336         1.338          -2.741         0              270            180
  59  StoveKnob       -0.569         1.338          -2.741         0              270            180
  60  StoveKnob       -0.707         1.338          -2.741         0              270            180
  61  Fridge          1.013          0.227          1.917          0              270            0
  62  Microwave       0.994          1.310          -2.163         0              270            0
  63  GarbageCan      -1.633         0.212          2.192          0              270            0
  64  LightSwitch     1.386          1.565          -0.657         0              270            0
  65  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  66  SinkBasin       -1.835         1.039          -0.542         0              0              0
  67  ButterKnife     0.873          0.468          0.651          0              0              0
  68  Toaster         -1.885         1.310          -2.512         0              90             0
  69  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  70  Drawer          0.647          1.061          0.680          0              270            0
  71  Drawer          0.648          1.061          1.020          0              270            0
  72  Drawer          0.648          0.843          1.020          0              270            0
  73  SideTable       0.975          0.220          0.869          0              270            0
  74  Drawer          0.648          0.602          0.680          0              270            0
  75  Drawer          0.648          0.596          1.020          0              270            0
  76  Drawer          0.648          0.843          0.680          0              270            0
  77  Stool           0.606          0.222          -1.084         1.233          280.489        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: walk over to the stove | STEP 2: pick up the knife to the left of the stove | STEP 3: take the knife to the counter with the tomato | STEP 4: slice the tomato | STEP 5: take the knife to the counter where the microwave is  | STEP 6: stick the knife through the top of the tomato on the counter near the microwave | STEP 7: go back the tomato you sliced and pick up one slice | STEP 8: take the tomato slice to the microwave | STEP 9: cook the tomato in the microwave with the egg | STEP 10: walk back over to the counter with the knife in the tomato | STEP 11: wait a moment | STEP 12: stand the cooked slice against the knife on its side | END