Task: Use a knife to slice a tomato, cook it in the microwave, & discarding the tomato in the trash bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          -0.5           0              270            0
   1  Ladle           0.294          0.971          1.220          0              0              0              85
   2  ButterKnife     -0.772         0.913          -2.134         0              0              0              68
   3  ButterKnife     1.919          0.913          -1.446         0              0              0              68
   4  WineBottle      1.909          1.658          -1.737         0              270            0              58
   5  WineBottle      1.557          0.914          -1.797         0              0              0              68
   6  Spatula         0.408          0.945          0.076          0              180            0              85
   7  Spatula         0.066          0.945          0.534          0              90             0              85
   8  Egg             1.738          0.967          -1.212         0              0              0              68
   9  Cup             0.522          0.930          0.762          0              0              0              85
  10  Cup             -0.064         0.764          -1.936         0              0              0              80
  11  Plate           1.850          0.916          -1.918         0              0              0              68
  12  Plate           0.066          0.934          0.305          0              0              0              85
  13  Knife           -0.346         0.936          -1.701         0              0              0              68
  14  Knife           0.408          0.953          0.534          0              90             0              85
  15  Tomato          -0.047         0.982          0.534          0              0              0              85
  16  SoapBottle      0.180          0.925          0.534          0              0              0              85
  17  SoapBottle      -1.355         1.658          -1.729         0              90             0              51
  18  Bowl            1.631          0.117          -1.397         0              270            0              62
  19  Lettuce         0.294          1.008          0.534          0              0              0              85
  20  Lettuce         0.522          1.008          0.534          0              0              0              85
  21  SaltShaker      -1.343         2.143          -1.056         0              90             0              52
  22  Bread           -0.047         0.975          0.991          0              0              0              85
  23  Mug             0.325          1.653          -2.238         0              0              0              57
  24  Apple           -0.283         0.835          -1.981         0              0              0              80
  25  Apple           -1.317         1.086          -1.794         0              90             0              74
  26  Apple           1.738          0.984          -1.563         0              0              0              68
  27  Potato          -1.610         1.533          -0.703         0              90             0              76
  28  Bowl            1.590          1.656          -2.162         0              0              0              55
  29  SoapBottle      0.408          0.925          0.305          0              0              0              85
  30  Fork            0.408          0.927          0.991          0              0              0              85
  31  Ladle           1.909          1.702          -1.608         0              270            0              58
  32  Bread           -1.495         1.228          -0.599         0              90             0              76
  33  Lettuce         -1.572         1.585          -0.495         0              90             0              76
  34  WineBottle      1.829          0.087          0.160          0              0              0              69
  35  Spatula         0.294          0.941          0.076          0              0              0              85
  36  Plate           -1.438         0.862          -0.495         0              90             0              76
  37  SaltShaker      1.669          0.877          2.510          0              0              0              89
  38  Pot             1.567          0.948          -0.757         0              0              0              50
  39  Cup             -0.210         0.764          -2.116         0              0              0              80
  40  PepperShaker    -1.036         0.909          -2.151         0              0              0              68
  41  Pan             1.845          0.948          -0.355         0              0              0              49
  42  ButterKnife     -0.791         0.9            -2.186         0              164.999        0              68
  43  Tomato          -0.160         0.982          0.762          0              0              0              85
  44  DishSponge      -1.254         2.147          -1.129         0              90             0              52
  45  Egg             0.522          0.980          1.220          0              0              0              85
  46  Spoon           -0.616         0.914          -2.233         0              0              0              68
  47  Knife           0.180          0.953          0.991          0              0              0              85
  48  Mug             1.773          0.548          2.534          0              0              0              94
  49  StoveBurner     1.845          0.940          -0.355         0              0              0
  50  StoveBurner     1.567          0.940          -0.757         0              0              0
  51  Cabinet         -1.149         2.019          -1.979         0              90             0
  52  Cabinet         -1.149         2.265          -0.834         0              90             0
  53  Cabinet         -0.459         2.265          -2.0           0              0              0
  54  Cabinet         -1.100         2.019          -2.0           0              0              0
  55  Cabinet         1.719          2.019          -2.0           0              0              0
  56  Cabinet         1.179          2.019          -2.0           0              0              0
  57  Cabinet         0.199          2.019          -2.0           0              0              0
  58  Cabinet         1.75           2.019          -1.399         0              270            0
  59  Cabinet         1.75           2.019          -1.029         0              270            0
  60  Cabinet         1.379          0.469          -1.689         0              0              0
  61  Cabinet         -0.819         0.469          -1.689         0              0              0
  62  Cabinet         1.389          0.469          -1.059         0              270            0
  63  Cabinet         -0.839         0.469          -1.665         0              90             0
  64  StoveBurner     1.567          0.940          -0.355         0              0              0
  65  StoveBurner     1.845          0.940          -0.757         0              0              0
  66  Sink            -0.109         0.893          -2.009         0              0              0
  67  Drawer          -0.819         0.75           -1.690         0              0              0
  68  CounterTop      0.232          0.949          -2.002         0              0              0
  69  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  70  Vase            0.251          0.546          0.475          0              270            0
  71  Toaster         0.780          0.900          -2.080         0              0              0
  72  LightSwitch     0.108          1.315          2.75           0              180            0
  73  Vase            0.400          0.925          0.218          0              180            0
  74  Microwave       -1.233         0.900          -1.680         0              90             0
  75  Vase            1.465          1.662          -2.200         0              0              0
  76  Fridge          -1.495         0.0            -0.703         0              0              0
  77  Window          2.114          1.495          1.072          90             270            0
  78  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  79  Vase            0.333          0.546          1.272          0              270            0
  80  SinkBasin       -0.148         0.753          -2.026         0              0              0
  81  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  82  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  83  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  84  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  85  DiningTable     0.170          0.005          0.678          0              270            0
  86  Shelf           0.170          0.155          0.678          0              270            0
  87  Shelf           1.605          0.172          2.480          0              0              0
  88  Shelf           1.605          0.552          2.480          0              0              0
  89  Shelf           1.604          0.880          2.479          0              0              0
  90  ShelvingUnit    1.605          0.006          2.480          0              0              0
  91  Faucet          -0.143         1.028          -2.223         0              270            0
  92  Stool           -0.553         0.000          0.871          1.233          280.376        0
  93  Shelf           0.170          0.528          0.678          0              270            0
  94
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Move to the white island counter in the center of the kitchen. | STEP 2: Pick up the knife that is near the lettuce. | STEP 3: Move across the the other side of the counter by the tomatoes.  | STEP 4: Use the knife to slice a tomato.  | STEP 5: Move across the room to the microwave.  | STEP 6: Place the knife inside the microwave.  | STEP 7: Move across the room until you are at the counter with the slice tomato.  | STEP 8: Pick up a slice of tomato off of the counter.  | STEP 9: Move across the room to the microwave.  | STEP 10: Place the tomato in the microwave. Turn the microwave on for a short time. Remove the cooked tomato from the microwave.  | STEP 11: Move across the room to the green trash bin.  | STEP 12: Discard the tomato into the trash bin.  | END