Task: Grab both tomatoes, cook them in the microwave grab the knife from 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           1.25           0.901          0.75           0              180            0
   1  Potato          -0.425         0.831          1.217          0              0              0              81
   2  Potato          2.096          0.378          -0.188         0              270            0              75
   3  WineBottle      2.074          0.938          1.964          0              0              0              54
   4  WineBottle      2.282          1.502          1.963          0              0              0              57
   5  ButterKnife     -0.196         0.791          0.377          0              0              0              81
   6  Spatula         0.735          0.810          2.750          0              270            0              78
   7  Spatula         1.065          0.810          2.750          0              270            0              78
   8  Spoon           1.906          0.747          0.514          0              0              0              63
   9  Fork            -0.349         0.791          0.377          0              0              0              81
  10  Egg             0.629          0.837          2.750          0              0              0              78
  11  Knife           -0.042         0.816          0.713          0              90             0              81
  12  Knife           0.033          0.816          1.049          0              90             0              81
  13  SoapBottle      1.840          0.939          0.657          0              0              0              65
  14  Tomato          1.673          0.983          2.898          0              0              0              54
  15  Bowl            2.223          1.320          -0.188         0              270            0              75
  16  Bowl            0.708          0.078          2.523          0              0              0              61
  17  SaltShaker      -0.425         0.785          0.713          0              270            0              81
  18  PepperShaker    -0.425         0.932          2.425          0              0              0              54
  19  PepperShaker    2.127          1.498          0.725          0              0              0              62
  20  Lettuce         2.127          1.580          -0.188         0              270            0              75
  21  Lettuce         2.122          0.664          -0.097         0              270            0              75
  22  Apple           2.122          0.652          -0.278         0              270            0              75
  23  Egg             -0.396         0.980          2.688          0              0              0              54
  24  Lettuce         -0.196         0.852          1.217          0              0              0              81
  25  Fork            -0.196         0.791          1.386          0              90             0              81
  26  SoapBottle      2.088          1.504          0.448          0              90             0              52
  27  Ladle           0.060          0.982          2.618          0              0              0              54
  28  Ladle           2.205          1.993          1.050          0              0              0              64
  29  Bread           -0.199         0.823          0.813          0              0              0              81
  30  SaltShaker      -0.042         0.785          1.049          0              0              0              81
  31  Potato          2.071          0.978          0.361          0              90             0              65
  32  Pan             2.140          0.935          1.504          0              180            0              49
  33  WineBottle      1.369          0.082          2.601          0              0              0              60
  34  Spatula         -0.068         0.761          2.197          0              270            0              53
  35  Knife           1.815          0.771          1.991          0              90             0              69
  36  Tomato          0.033          0.837          0.713          0              0              0              81
  37  Apple           2.112          1.371          -0.460         0              270            0              75
  38  ButterKnife     1.118          0.802          2.695          0              0              0              78
  39  Pot             1.854          0.937          1.497          0              0              0              58
  40  PepperShaker    -0.349         0.785          0.713          0              0              0              81
  41  Cup             2.000          1.321          -0.097         0              270            0              75
  42  DishSponge      -0.196         0.790          1.049          0              0              0              81
  43  Plate           1.925          0.086          2.128          0              0              0              50
  44  Spoon           1.917          0.939          0.361          0              0              0              65
  45  Mug             -0.196         0.785          0.545          0              0              0              81
  46  Bowl            2.023          0.335          -0.550         0              270            0              75
  47  Cabinet         2.041          2.113          2.618          0              0              0
  48  Cabinet         0.126          0.388          1.774          0              0              0
  49  StoveBurner     2.140          0.929          1.504          0              180            0
  50  Cabinet         1.760          0.388          2.346          0              0              0
  51  Cabinet         1.760          0.388          0.869          0              0              0
  52  Cabinet         2.041          1.810          0.283          0              0              0
  53  Drawer          -0.024         0.774          2.061          0              0              0
  54  CounterTop      1.065          0.973          2.666          0              0              0
  55  Cabinet         1.969          2.113          2.618          0              0              0
  56  StoveBurner     2.140          0.929          1.106          0              0              0
  57  Cabinet         2.041          2.113          1.809          0              0              0
  58  StoveBurner     1.866          0.929          1.504          0              180            0
  59  Cabinet         2.041          2.113          1.766          0              0              0
  60  Cabinet         1.514          0.388          2.360          0              0              0
  61  Cabinet         0.351          0.388          2.360          0              0              0
  62  Cabinet         2.041          1.810          0.872          0              0              0
  63  Drawer          2.167          0.774          0.582          0              0              0
  64  Cabinet         2.041          2.113          0.892          0              0              0
  65  CounterTop      2.060          0.973          0.583          0              0              0
  66  Sink            0.935          0.936          2.646          0              0              0
  67  Curtains        0.964          2.061          2.989          0              0              0
  68  StoveBurner     1.863          0.929          1.106          0              0              0
  69  Drawer          1.911          0.774          2.060          0              0              0
  70  StoveKnob       2.326          1.092          1.610          288.013        90             0
  71  StoveKnob       2.326          1.092          1.460          288.013        90             0
  72  StoveKnob       2.326          1.092          1.210          288.013        90             0
  73  StoveKnob       2.326          1.092          1.050          288.013        90             0
  74  Toaster         2.126          0.926          0.572          0              270            0
  75  Fridge          2.104          0.0            -0.279         0              270            0
  76  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  77  LightSwitch     0.354          1.518          -1.031         0              0              0
  78  SinkBasin       0.903          0.784          2.640          0              0              0
  79  Microwave       -0.310         0.926          2.077          0              90             0
  80  CoffeeMachine   2.084          0.927          2.667          0              225            0
  81  DiningTable     -0.153         -0.000         1.073          0              270            0
  82  Faucet          1.175          0.926          2.950          270            90             0
  83  Faucet          0.686          0.926          2.950          270            90             0
  84  Chair           -0.077         0.002          0.196          0              15.000         0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Walk towards the table | STEP 2: Grab a tomato from the table | STEP 3: Walk towards the microwave | STEP 4: Put the tomato inside the microwave | STEP 5: Walk to the right towards the sink | STEP 6: Grab the other tomato | STEP 7: Walk towards the microwave | STEP 8: Grab the cooked tomato | STEP 9: Walk towards the sink  | STEP 10: Grab the knife inside the sink | STEP 11: Walk with the knife towards the microwave | STEP 12: Open the microwave door | END