Task: pick up knife, cut tomato, cook in microwave, place into trash can

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.25          0.900          -3.25          0              180            0
   1  Glassbottle     -0.344         0.082          -1.712         0              0              0              57
   2  Glassbottle     -0.383         0.082          -2.201         0              0              0              67
   3  Pencil          -0.807         0.747          -3.527         0              90             0              61
   4  Pencil          -2.666         0.923          -1.884         0              0              0              87
   5  Pen             -2.096         0.926          -1.654         0              0              0              87
   6  Potato          -0.079         0.947          -2.563         0              0              0              62
   7  Potato          -2.096         0.954          -1.884         0              0              0              87
   8  ButterKnife     -2.438         0.923          -2.115         0              0              0              87
   9  WineBottle      -2.552         0.924          -1.423         0              0              0              87
  10  Pot             -1.515         0.935          -3.497         0              0              0              59
  11  Pot             -0.392         1.098          -0.665         0              270            0              79
  12  Spatula         -2.324         0.938          -0.963         0              0              0              87
  13  Fork            -2.666         0.924          -1.884         0              0              0              87
  14  Knife           -2.552         0.946          -2.345         0              180            0              87
  15  Knife           -2.552         0.946          -1.193         0              0              0              87
  16  Plate           -0.392         1.393          -0.560         0              270            0              79
  17  Plate           -2.324         0.925          -1.423         0              0              0              87
  18  Cup             -2.438         0.922          -1.193         0              0              0              87
  19  Cup             -0.392         1.097          -0.455         0              270            0              79
  20  SoapBottle      -2.096         0.922          -1.423         0              0              0              87
  21  SoapBottle      -0.716         0.080          -3.506         0              0              0              66
  22  Tomato          -0.302         0.861          -2.008         0              270            0              80
  23  Tomato          -2.666         0.987          -1.193         0              0              0              87
  24  Bowl            -2.780         0.922          -1.654         0              0              0              87
  25  Bowl            -0.671         0.914          -3.626         0              0              0              62
  26  Bread           -2.666         0.976          -2.345         0              0              0              87
  27  SaltShaker      -0.720         0.743          -3.615         0              0              0              61
  28  PepperShaker    -2.210         0.919          -1.654         0              0              0              87
  29  Mug             -0.351         0.962          -3.144         0              270            0              76
  30  Mug             -0.222         0.910          -3.368         0              0              0              62
  31  Apple           -0.295         1.464          -0.770         0              270            0              79
  32  Apple           -0.343         1.464          -0.979         0              270            0              79
  33  Lettuce         -2.562         1.002          -1.677         36.385         0              0              87
  34  Glassbottle     -0.382         0.081          -3.330         0              0              0              68
  35  Egg             -0.490         1.423          -1.084         0              270            0              79
  36  Pen             -2.160         0.919          -0.829         0              0              0              87
  37  Fork            -2.324         0.924          -2.345         0              180            0              87
  38  SoapBottle      -2.552         0.922          -0.963         0              0              0              87
  39  Pencil          -2.324         0.923          -2.345         0              0              0              87
  40  WineBottle      -0.460         0.081          -3.205         0              0              0              68
  41  Spatula         -0.150         0.911          -3.572         358.928        0              0              62
  42  Bread           -0.427         0.955          -3.625         0              0              1.506          62
  43  Tomato          -2.666         0.987          -1.423         0              0              0              87
  44  Pan             -2.174         0.913          -1.099         0              0              0              87
  45  Cup             -0.268         1.689          -1.084         0              270            0              79
  46  Pot             -1.129         0.935          -3.498         0              0              0              60
  47  SaltShaker      -0.377         1.527          -3.830         0              45             0              70
  48  Potato          -0.392         1.422          -0.769         0              270            0              79
  49  PepperShaker    -0.211         1.524          -3.020         0              0              0              74
  50  ButterKnife     -0.365         0.915          -2.563         0              90             0              62
  51  DishSponge      -0.478         0.746          -3.297         0              0              0              73
  52  Spoon           -0.302         0.798          -1.860         0              270            0              80
  53  Plate           -0.322         1.533          -3.610         0              45             0              70
  54  Knife           -2.324         0.946          -1.884         0              0              0              87
  55  Mug             -0.716         0.077          -3.623         0              0              0              66
  56  Bowl            -0.348         1.689          -0.560         0              270            0              79
  57  Cabinet         -0.582         0.388          -1.804         0              0              0
  58  StoveBurner     -1.515         0.928          -3.752         0              90             0
  59  StoveBurner     -1.515         0.928          -3.497         0              0              0
  60  StoveBurner     -1.129         0.928          -3.498         0              0              0
  61  Drawer          -0.749         0.779          -3.551         0              0              0
  62  CounterTop      -0.303         0.951          -2.793         0              0              0
  63  Cabinet         -0.883         2.140          -3.687         0              0              0
  64  Cabinet         -0.312         2.140          -1.543         0              0              0
  65  Sink            -0.349         0.907          -2.014         0              0              0
  66  Cabinet         -0.877         0.388          -3.422         0              0              0
  67  Cabinet         -0.582         0.388          -2.197         0              0              0
  68  Cabinet         -0.584         0.388          -3.396         0              0              0
  69  Cabinet         -0.312         2.140          -2.481         0              0              0
  70  Cabinet         -0.330         1.921          -3.390         0              0              0
  71  Cabinet         -1.764         2.140          -3.687         0              0              0
  72  StoveBurner     -1.129         0.928          -3.752         0              90             0
  73  Drawer          -0.454         0.779          -3.268         0              0              0
  74  Cabinet         -0.302         1.916          -2.501         0              0              0
  75  Microwave       -1.317         1.517          -3.801         0              1.440          0
  76  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  77  LightSwitch     -4.323         1.319          0.0            0              180            0
  78  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  79  Fridge          -0.330         0.0            -0.769         0              270            0
  80  SinkBasin       -0.350         0.786          -2.018         0              270            0
  81  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  82  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  83  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  84  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  85  Toaster         -0.181         0.903          -2.764         0              270            0
  86  Window          -2.503         1.782          -4.185         90             180            0
  87  DiningTable     -2.432         0.000          -1.694         0              270            0
  88  Shelf           -2.432         0.150          -1.694         0              270            0
  89  Blinds          -2.536         2.699          -3.959         0              0              0
  90  Faucet          -0.079         0.904          -2.034         270            180            0
  91  Chair           -3.264         0.002          -2.094         0              53.280         0
  92  Chair           -3.240         0.002          -1.253         0              117.257        0
  93  Shelf           -2.432         0.523          -1.694         0              270            0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: turn around , turn right, left, right to the counter | STEP 2: pick up knife from the counter | STEP 3: turn left, turn right to the counter | STEP 4: cut in to the tomato with knife | STEP 5: turn around , turn left to the counter  | STEP 6: place knife on to the counter | STEP 7: turn left to the counter | STEP 8: pick up tomato from the counter | STEP 9: turn around, walk left to the microwave | STEP 10: open door, place tomato inside, close door, cook tomato, open door, remove tomato, close door | STEP 11: turn right, walk straight, turn left, turn left to the trash | STEP 12: place tomato in to the trash | END