Task: Slice a warn tomato to place in 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           -3.5           0.899          4.5            0              0              0
   1  Potato          -0.565         0.958          4.615          0              0              0              62
   2  Potato          -0.218         1.369          3.355          0              270            0              110
   3  DishSponge      -4.094         0.753          2.501          0              0              0              57
   4  ButterKnife     -4.031         0.923          1.648          0              180            0              77
   5  WineBottle      -3.613         0.924          5.259          0              90             0              77
   6  WineBottle      -4.204         0.924          1.951          0              0              0              77
   7  Fork            -0.411         0.925          4.944          0              0              0              62
   8  Fork            -3.494         0.924          5.336          0              90             0              77
   9  Spoon           -1.943         0.924          1.648          0              0              0              59
  10  Cup             -4.172         0.922          2.533          0              0              0              77
  11  Egg             -0.301         1.371          3.479          0              270            0              110
  12  Plate           -0.488         0.925          5.273          0              0              0              62
  13  Plate           -2.688         1.547          1.666          0              0              0              107
  14  Knife           -1.860         0.953          1.951          0              0              0              59
  15  Knife           -1.693         0.953          1.648          0              90             0              59
  16  Tomato          -0.401         1.127          3.726          0              270            0              110
  17  Tomato          -3.613         0.980          5.106          0              90             0              77
  18  Bowl            -4.108         0.920          4.122          0              90             0              77
  19  Bowl            -3.163         0.076          5.155          0              90             0              55
  20  SaltShaker      -2.093         0.742          1.896          0              0              0              75
  21  PepperShaker    -3.984         1.455          5.475          0              90             0              81
  22  Lettuce         -3.712         0.164          6.292          0              270            0              103
  23  Bread           -1.777         1.003          1.724          0              0              0              59
  24  Bread           -0.258         1.004          4.944          0              0              0              62
  25  Mug             -4.271         0.785          3.159          0              270            0              109
  26  Mug             -0.295         1.065          3.850          0              270            0              110
  27  Egg             -2.530         1.582          1.633          0              0              0              107
  28  Apple           -0.488         0.978          5.932          0              0              0              111
  29  Knife           -4.242         0.953          2.300          0              0              0              77
  30  Potato          -0.301         1.719          3.673          0              90             0              110
  31  Fork            -0.334         0.925          5.273          0              0              0              62
  32  Bowl            -0.181         0.922          5.603          0              0              0              62
  33  Plate           -0.348         1.071          3.231          0              270            0              110
  34  Lettuce         -0.342         1.676          3.228          0              270            0              110
  35  Bread           -0.295         1.150          3.479          0              270            0              110
  36  Tomato          -0.342         1.392          3.974          0              270            0              110
  37  WineBottle      -2.026         0.924          1.8            0              0              0              59
  38  Spatula         -4.411         0.938          5.418          0              180            0              77
  39  PaperTowelRoll  -3.340         1.027          1.875          0              0              0              77
  40  Cup             -4.486         0.922          5.159          0              90             0              77
  41  Pencil          -1.860         0.923          1.8            0              0              0              75
  42  Pan             -2.924         0.930          2.012          0              0              0              60
  43  Pot             -2.469         0.930          1.712          0              270            0              92
  44  SaltShaker      -0.532         0.743          4.849          0              270            0              67
  45  SoapBottle      -4.335         0.923          5.159          0              90             0              77
  46  PepperShaker    -1.943         0.919          1.951          0              0              0              59
  47  ButterKnife     -0.181         0.925          5.932          0              0              0              62
  48  DishSponge      -4.047         0.084          2.726          0              0              0              69
  49  Spoon           -4.196         0.792          3.410          0              270            0              109
  50  Mug             -0.383         1.680          3.733          0              270            0              110
  51  Cabinet         -3.203         1.931          1.777          0              0              0
  52  Cabinet         -3.187         0.390          2.089          0              0              0
  53  Cabinet         -0.637         0.387          6.882          0              180            0
  54  Drawer          -3.797         0.781          1.961          0              0              0
  55  Cabinet         -3.036         0.387          5.029          0              90             0
  56  Drawer          -0.509         0.775          5.268          0              270            0
  57  Drawer          -4.125         0.798          2.499          0              0              0
  58  Cabinet         -0.331         2.249          4.308          0              180            0
  59  CounterTop      -1.872         0.958          1.799          0              0              0
  60  StoveBurner     -2.924         0.924          2.012          0              0              0
  61  Cabinet         -0.331         2.249          6.806          0              180            0
  62  CounterTop      -0.345         0.960          5.603          0              0              0
  63  Cabinet         -3.039         1.935          5.321          0              90             0
  64  Cabinet         -3.922         0.397          2.088          0              0              0
  65  StoveBurner     -2.467         0.924          2.012          0              0              0
  66  Cabinet         -0.331         2.249          5.505          0              180            0
  67  Drawer          -0.509         0.775          4.617          0              270            0
  68  Drawer          -3.509         0.777          5.157          0              180            0
  69  Cabinet         -3.961         0.388          2.878          0              0              0
  70  Cabinet         -3.961         0.388          4.342          0              0              0
  71  Cabinet         -0.637         0.387          5.582          0              180            0
  72  Cabinet         -0.637         0.388          4.299          0              180            0
  73  Cabinet         -0.637         0.388          5.599          0              180            0
  74  StoveBurner     -2.924         0.924          1.712          0              180            0
  75  Drawer          -1.859         0.775          1.961          0              0              0
  76  Cabinet         -0.331         2.249          5.609          0              180            0
  77  CounterTop      -4.260         0.958          4.943          0              90             0
  78  Cabinet         -4.284         1.931          2.226          0              0              0
  79  Cabinet         -0.331         2.249          3.010          0              180            0
  80  Drawer          -3.801         0.777          5.157          0              180            0
  81  Cabinet         -4.112         1.935          5.321          0              90             0
  82  Cabinet         -3.968         0.388          3.662          0              0              0
  83  Drawer          -3.418         0.777          1.961          0              0              0
  84  Drawer          -4.090         0.777          4.661          0              90             0
  85  Faucet          -4.441         0.909          3.288          270            0              0
  86  Cabinet         -0.331         2.249          4.207          0              180            0
  87  Cabinet         -3.961         0.388          2.119          0              0              0
  88  Drawer          -0.509         0.775          5.920          0              270            0
  89  Drawer          -3.193         0.777          5.157          0              180            0
  90  Cabinet         -3.968         0.388          2.894          0              0              0
  91  Cabinet         -3.667         0.387          5.029          0              90             0
  92  StoveBurner     -2.469         0.924          1.712          0              270            0
  93  Cabinet         -1.539         0.388          2.090          0              0              0
  94  Sink            -4.190         0.921          3.279          0              0              0
  95  Cabinet         -3.641         0.387          5.029          0              90             0
  96  Cabinet         -1.583         1.931          1.777          0              0              0
  97  Drawer          -0.509         0.775          6.568          0              270            0
  98  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  99  StoveKnob       -2.347         1.095          1.560          288.012        180            180
 100  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 102  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 103  GarbageCan      -3.711         -0.030         6.376          0              270            0
 104  Toaster         -3.578         0.912          1.763          0              0              0
 105  Curtains        -4.522         2.252          3.391          90             90             0
 106  Window          -4.868         1.629          3.309          90             270            0
 107  Microwave       -2.693         1.430          1.689          0              0              0
 108  LightSwitch     -1.588         1.169          1.506          0              0              0
 109  SinkBasin       -4.196         0.780          3.276          0              270            0
 110  Fridge          -0.324         -0.001         3.602          0              0              0
 111
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Move to face the the knife on the counter left of the sink | STEP 2: Pick up the knife on the counter | STEP 3: Move right then right again to the fridge | STEP 4: Open the fridge to slice the tomato inside, close the fridge | STEP 5: Carry the knife over to the kitchen sink | STEP 6: Place the knife in the kitchen sink on the right side blade down | STEP 7: Move back to the fridge | STEP 8: Open the fridge and remove a tomato slice in the fridge then shut the fridge | STEP 9: Carry the tomato slice over to the microwave above the stove top  | STEP 10: Place the tomato slice inside of the microwave above the stove, heat it then remove it | STEP 11: Move back to the sink where the knife is | STEP 12: Place the tomato in the sink, left of the knife | END