Task: Cut a microwaved slice of tomato to place in the trash

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          -0.5           0              180            0
   1  Potato          0.377          0.806          -1.745         0              270            0              79
   2  DishSponge      0.504          0.109          0.308          0              0              0              67
   3  ButterKnife     -0.359         0.912          -1.489         0              0              0              56
   4  ButterKnife     1.535          0.912          -1.737         0              0              0              56
   5  Pot             1.361          0.962          0.561          0              270            0              61
   6  Fork            0.753          0.920          -1.715         0              0              0              54
   7  Fork            1.535          0.912          -1.406         0              0              0              56
   8  Spatula         1.658          0.927          -1.571         0              0              0              56
   9  Spatula         0.167          0.927          0.540          0              90             0              55
  10  Egg             -0.872         1.050          -1.704         0              0              0              78
  11  Plate           -2.614         0.953          0.345          0              90             0              89
  12  Knife           -2.340         0.977          0.255          0              90             0              89
  13  Knife           -1.928         0.977          0.345          0              90             0              89
  14  SoapBottle      -0.362         0.068          0.525          0              90             0              85
  15  Tomato          -2.222         0.829          -1.806         0              0              0              86
  16  Tomato          -0.267         0.961          -1.903         0              0              0              56
  17  Tomato          -1.959         0.560          -1.849         0              0              0              86
  18  Bowl            -2.135         1.051          -1.720         0              0              0              86
  19  Bowl            -2.065         0.951          0.524          0              90             0              89
  20  PepperShaker    0.564          0.908          0.292          0              0              0              55
  21  PepperShaker    0.564          0.908          0.209          0              0              0              55
  22  Bread           1.785          0.995          0.375          0              0              0              71
  23  Bread           0.035          0.995          0.375          0              0              0              55
  24  Mug             -2.222         0.775          -1.677         0              0              0              86
  25  Apple           -1.079         1.082          -1.737         0              0              0              78
  26  Apple           -2.065         1.019          0.704          0              90             0              89
  27  Bread           -2.203         1.035          0.165          0              90             0              89
  28  Knife           0.167          0.937          0.375          0              0              0              55
  29  Fork            0.649          0.920          -1.516         0              270            0              54
  30  Bowl            -2.135         0.510          -1.763         0              0              0              86
  31  Kettle          -0.055         0.9            0.643          0              0              0              55
  32  Cup             1.658          0.910          -1.489         0              0              0              56
  33  Tomato          -1.872         1.541          -1.806         0              0              0              86
  34  SoapBottle      -0.082         0.910          -1.903         0              0              0              56
  35  Plate           0.394          0.109          -1.509         0              180            0              53
  36  Pot             1.007          0.962          0.561          0              270            0              58
  37  Spatula         -2.065         0.967          0.345          0              0              0              89
  38  PaperTowelRoll  -0.296         0.174          0.612          0              90             0              85
  39  Egg             -1.872         0.546          -1.677         0              0              0              86
  40  Lettuce         -2.340         1.042          0.614          0              90             0              89
  41  SaltShaker      -1.791         0.948          0.255          0              90             0              89
  42  PepperShaker    -0.267         0.908          -1.571         0              0              0              56
  43  Apple           -1.791         1.019          0.524          0              90             0              89
  44  ButterKnife     1.711          0.9            0.273          0              318.152        0              71
  45  Potato          -2.31          0.541          -1.677         0              0              0              86
  46  Pan             1.022          0.959          0.288          0              219.190        0              68
  47  DishSponge      -0.644         1.328          -1.883         0              180            0              50
  48  Spoon           -2.065         0.953          0.255          0              90             0              89
  49  Mug             -2.614         0.947          0.614          0              90             0              89
  50  Cabinet         -0.193         1.688          -1.648         0              180            0
  51  StoveBurner     1.360          0.957          0.293          0              180            0
  52  Drawer          0.499          0.792          0.296          0              0              0
  53  Cabinet         0.095          0.400          -1.352         0              180            0
  54  Sink            0.711          0.817          -1.772         0              270            0
  55  CounterTop      0.280          0.947          0.458          0              0              0
  56  CounterTop      -0.680         0.947          -1.654         0              0              0
  57  Drawer          1.825          0.792          0.296          0              0              0
  58  StoveBurner     1.007          0.957          0.561          0              270            0
  59  Drawer          -0.150         0.792          -1.496         0              0              0
  60  Drawer          -0.586         0.792          -1.496         0              0              0
  61  StoveBurner     1.360          0.957          0.561          0              270            0
  62  Drawer          0.024          0.792          0.296          0              0              0
  63  Cabinet         1.079          0.400          -1.349         0              180            0
  64  Cabinet         1.669          0.402          0.151          0              0              0
  65  Cabinet         0.055          0.402          -1.351         0              0              0
  66  Cabinet         -0.180         0.402          0.151          0              0              0
  67  Cabinet         0.729          0.402          0.151          0              0              0
  68  StoveBurner     1.007          0.957          0.293          0              180            0
  69  Drawer          -1.100         0.792          -1.496         0              0              0
  70  Cabinet         -0.396         0.402          -1.351         0              0              0
  71  CounterTop      1.776          0.947          0.458          0              0              0
  72  Cabinet         1.974          1.688          -1.648         0              180            0
  73  Cabinet         -0.820         0.400          -1.349         0              180            0
  74  Toaster         0.305          0.900          0.552          0              180            0
  75  LightSwitch     -2.756         1.307          -0.987         0              90             0
  76  Window          0.582          1.613          -1.967         90             0              0
  77  Window          1.969          1.5            -0.615         90             270            0
  78  Microwave       -1.037         0.900          -1.723         0              0              0
  79  SinkBasin       0.377          0.765          -1.655         0              270            0
  80  CoffeeMachine   0.618          0.900          0.600          0              180            0
  81  StoveKnob       1.246          0.913          0.118          45             180            0
  82  StoveKnob       1.373          0.913          0.118          45             180            0
  83  StoveKnob       0.995          0.913          0.118          45             180            0
  84  StoveKnob       1.126          0.913          0.118          45             180            0
  85  GarbageCan      -0.368         -0.029         0.539          0              90             0
  86  Fridge          -2.134         0.0            -1.690         0              0              0
  87  Faucet          0.549          1.046          -1.833         0              232.527        0
  88  Stool           -1.475         0.000          0.414          1.233          280.375        0
  89  DiningTable     -2.255         -0.004         0.432          0              0              0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Move to the back right of the counter to the right of the sink | STEP 2: Pick up the knife on the counter top | STEP 3: Slice the tomato on top of the counter in the back | STEP 4: Carry the knife over to the drawer underneath the red microwave | STEP 5: Spin around in a circle then face the drawer | STEP 6: Place the knife in the drawer | STEP 7: Move to face the tomato on the counter top | STEP 8: Pick up a slice of tomato | STEP 9: Carry the tomato to the microwave | STEP 10: Place the tomato in the microwave, turn it on, then remove, shut the door | STEP 11: Marry the tomato slice to the green bin at the edge of the counter top | STEP 12: Place the tomato in the green bin | END