Task: Slice, cook tomato to be placed on top of black drawer unit.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           1.124          1.75           0              90             0
   1  Pan             0.900          0.344          -1.957         0              180            0              45
   2  Potato          -1.530         1.362          0.445          0              0              0              46
   3  Fork            -1.915         1.336          -0.911         0              0              0              53
   4  Fork            -1.308         1.323          -2.760         0              0              0              46
   5  Spoon           0.420          1.324          -2.900         0              0              0              46
   6  Pot             -0.125         1.332          -2.973         0              0              0              54
   7  Cup             0.900          0.342          -2.267         0              180            0              45
   8  Plate           1.155          1.323          -2.053         0              0              0              46
   9  Knife           -1.790         1.352          1.744          0              0              0              46
  10  Knife           -1.737         1.358          -1.117         0              180            0              53
  11  SoapBottle      -1.826         1.333          -1.255         0              0              0              53
  12  Bowl            -1.789         0.342          -2.262         0              270            0              42
  13  Bowl            1.053          0.343          -2.371         0              180            0              45
  14  SaltShaker      -1.884         0.338          0.311          0              0              0              44
  15  SaltShaker      -1.749         0.338          0.110          0              0              0              44
  16  Lettuce         0.766          1.399          -2.053         0              180            0              46
  17  Apple           -1.451         1.371          -3.203         0              0              0              46
  18  Bread           -1.522         1.397          -2.981         0              0              0              46
  19  Pot             -0.749         1.332          -2.973         0              0              0              49
  20  Knife           0.563          1.352          -2.789         0              0              0              46
  21  Bowl            -1.602         0.342          -2.063         0              0              0              42
  22  Potato          -1.610         0.319          2.151          0              270            0              61
  23  SoapBottle      -1.237         1.323          -3.425         0              0              0              46
  24  Fork            -1.920         1.323          -2.721         0              270            0              46
  25  Cup             -1.826         1.330          -0.911         0              0              0              53
  26  Kettle          -1.401         1.324          0.120          0              0              0              46
  27  Egg             -1.586         0.321          2.234          0              270            0              61
  28  Pan             -1.750         0.343          1.420          0              0              0              47
  29  SaltShaker      -1.681         0.338          0.613          0              0              0              44
  30  WineBottle      -1.851         0.344          -1.863         0              0              0              42
  31  Lettuce         -1.530         1.399          1.094          0              0              0              46
  32  Spatula         -1.954         1.066          -0.451         0              270            0              64
  33  PaperTowelRoll  -1.522         1.427          -3.092         0              0              0              46
  34  Tomato          -2.093         1.368          -1.117         0              0              0              53
  35  Plate           -2.049         1.323          -2.201         0              0              0              46
  36  PepperShaker    -1.954         0.338          1.523          0              0              0              47
  37  DishSponge      0.634          1.322          -3.232         0              0              0              46
  38  Spoon           -1.660         1.324          2.069          0              0              0              46
  39  Apple           1.017          1.806          2.053          0              270            0              59
  40  Mug             -1.602         0.338          -1.763         0              0              0              42
  41  StoveBurner     -0.239         1.325          -3.301         0              180            0
  42  Cabinet         -1.461         0.775          -2.002         0              0              0
  43  StoveBurner     -0.630         1.325          -3.301         0              180            0
  44  Cabinet         -1.461         0.775          0.470          0              0              0
  45  Cabinet         0.578          0.776          -2.054         0              0              0
  46  CounterTop      -1.809         1.358          1.182          0              0              0
  47  Cabinet         -1.461         0.775          1.310          0              0              0
  48  Faucet          -2.063         1.362          -0.726         0              39.391         0
  49  StoveBurner     -0.749         1.325          -2.973         0              0              0
  50  Drawer          -1.610         0.681          -0.430         0              0              0
  51  Window          -2.566         1.799          -0.822         270            0              0
  52  Drawer          -1.610         0.681          -1.217         0              0              0
  53  Sink            -1.990         1.143          -0.975         0              0              0
  54  StoveBurner     -0.125         1.325          -2.973         0              0              0
  55  StoveKnob       -0.185         1.338          -2.741         0              270            180
  56  StoveKnob       -0.336         1.338          -2.741         0              270            180
  57  StoveKnob       -0.569         1.338          -2.741         0              270            180
  58  StoveKnob       -0.707         1.338          -2.741         0              270            180
  59  Fridge          1.013          0.227          1.917          0              270            0
  60  Microwave       0.994          1.310          -2.163         0              270            0
  61  GarbageCan      -1.633         0.212          2.192          0              270            0
  62  LightSwitch     1.386          1.565          -0.657         0              270            0
  63  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  64  SinkBasin       -1.835         1.039          -0.542         0              0              0
  65  ButterKnife     0.873          0.468          0.651          0              0              0
  66  Toaster         -1.885         1.310          -2.512         0              90             0
  67  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  68  Drawer          0.647          1.061          0.680          0              270            0
  69  Drawer          0.648          1.061          1.020          0              270            0
  70  Drawer          0.648          0.843          1.020          0              270            0
  71  SideTable       0.975          0.220          0.869          0              270            0
  72  Drawer          0.648          0.602          0.680          0              270            0
  73  Drawer          0.648          0.596          1.020          0              270            0
  74  Drawer          0.648          0.843          0.680          0              270            0
  75  Stool           0.606          0.222          -1.084         1.233          280.489        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Move across the room to the counter to the left of the sink.  | STEP 2: Pick up the knife that is on the counter.  | STEP 3: Slice the tomato that is on the counter.  | STEP 4: Move slightly to the right in front of the sink.  | STEP 5: Put the knife into the sink.  | STEP 6: Move slightly left to the counter that is on the left of the sink.  | STEP 7: Pick up a tomato slice from the counter.  | STEP 8: Turn around and move across room to the microwave that is above the stove.  | STEP 9: Put the tomato in the microwave and cook it.  Remove it from the microwave.  | STEP 10: Move to the left side of the black drawer unit the microwave is sitting on | STEP 11: Put the tomato slice on the left-front corner of the drawer unit.  | END