Task: Cut the tomato and warm it placing it back 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           -2.5           0.900          1.25           0              180            0
   1  Statue          -0.550         0.936          -0.067         0              0              0              63
   2  Vase            1.082          2.209          -1.626         0              270            0              70
   3  Potato          -0.642         0.811          -0.918         0              90             0              84
   4  CreditCard      0.688          0.908          0.313          0              0              0              64
   5  CreditCard      0.875          0.700          -0.690         0              270            0              61
   6  DishSponge      0.753          0.153          -0.729         0              270            0              66
   7  DishSponge      -1.363         0.553          2.718          0              0              0              89
   8  ButterKnife     -0.624         0.933          0.162          0              0              0              63
   9  ButterKnife     1.029          0.911          -0.555         0              0              0              64
  10  Glassbottle     -0.912         0.177          0.510          0              180            0              83
  11  Glassbottle     0.859          0.912          -0.729         0              0              0              64
  12  Fork            1.114          0.911          -0.729         0              180            0              64
  13  Fork            -0.753         0.780          -0.659         0              180            0              84
  14  Spatula         -1.167         0.948          0.144          0              0              0              63
  15  Knife           -0.772         0.957          -1.463         0              90             0              63
  16  Knife           -1.104         0.957          -1.167         0              90             0              63
  17  Plate           1.169          2.211          -1.299         0              270            0              70
  18  Plate           1.147          1.669          0.216          0              270            0              71
  19  Tomato          -0.642         0.821          -0.745         0              90             0              84
  20  SoapBottle      1.114          0.911          -0.208         0              0              0              64
  21  SaltShaker      0.754          0.491          -0.690         0              270            0              67
  22  PepperShaker    0.875          0.491          -0.565         0              270            0              67
  23  Lettuce         0.944          0.988          -0.381         0              0              0              64
  24  Bread           -0.550         1.014          -1.231         0              0              0              63
  25  Bread           1.026          0.944          1.063          0              270            0              86
  26  Mug             -0.846         0.928          -1.386         0              0              0              63
  27  Apple           1.199          0.961          -0.381         0              0              0              64
  28  Apple           -1.054         0.229          0.576          0              180            0              83
  29  Statue          -1.292         0.936          -0.643         0              0              0              63
  30  Glassbottle     -0.912         0.179          0.641          0              180            0              83
  31  Bread           0.966          1.482          1.063          0              270            0              86
  32  CreditCard      -1.778         0.551          2.770          0              0              0              89
  33  CellPhone       0.859          0.908          -0.381         0              0              0              64
  34  Potato          1.028          1.825          -1.339         0              270            0              85
  35  Knife           1.029          0.934          -0.381         0              90             0              64
  36  Fork            0.773          0.911          -1.879         0              0              0              69
  37  Pan             0.905          1.640          1.254          0              0              0              86
  38  Lettuce         0.905          1.212          1.444          0              270            0              86
  39  Plate           0.905          0.866          1.254          0              270            0              86
  40  Apple           1.026          1.185          0.967          0              270            0              86
  41  Pot             1.077          0.950          -1.504         0              0              0              59
  42  Spatula         -0.808         0.795          -0.573         0              180            0              84
  43  PaperTowelRoll  0.688          1.015          -2.136         0              0              0              69
  44  Tomato          1.026          0.903          1.540          0              270            0              86
  45  Egg             -0.753         0.814          -0.400         0              90             0              84
  46  SaltShaker      1.148          1.662          -0.657         0              270            0              72
  47  PepperShaker    0.754          0.698          -0.607         0              270            0              61
  48  Vase            1.199          0.911          0.139          0              0              0              64
  49  ButterKnife     -0.550         0.933          -1.618         0              0              0              63
  50  SoapBottle      1.055          1.666          -2.097         0              270            0              62
  51  Vase            -1.355         0.934          -0.380         0              0              0              63
  52  Bowl            0.844          1.646          1.540          0              270            0              86
  53  DishSponge      0.944          0.910          -0.208         0              0              0              64
  54  Spoon           1.029          0.912          0.139          0              270            0              64
  55  Cup             1.148          1.640          0.967          0              270            0              86
  56  Mug             1.026          1.129          1.063          0              90             0              86
  57  StoveBurner     0.842          0.919          -1.098         0              0              0
  58  Cabinet         0.648          0.474          0.244          0              270            0
  59  StoveBurner     1.077          0.919          -1.504         0              0              0
  60  StoveBurner     0.842          0.919          -1.504         0              0              0
  61  Drawer          0.637          0.755          -0.649         0              270            0
  62  Cabinet         0.949          2.159          -2.375         0              270            0
  63  CounterTop      -1.238         0.968          -0.643         0              0              0
  64  CounterTop      0.931          0.946          -0.208         0              0              0
  65  StoveBurner     1.077          0.919          -1.098         0              0              0
  66  Drawer          0.637          0.268          -0.649         0              270            0
  67  Drawer          0.637          0.547          -0.649         0              270            0
  68  Cabinet         0.648          0.475          -1.714         0              0              0
  69  CounterTop      0.931          0.946          -2.051         0              0              0
  70  Cabinet         0.948          2.439          -1.780         0              270            0
  71  Cabinet         0.948          2.159          -0.140         0              270            0
  72  Cabinet         0.949          2.159          -0.758         0              270            0
  73  Sink            -0.699         0.927          -0.649         0              0              0
  74  LightSwitch     -2.371         1.218          3.049          0              180            0
  75  StoveKnob       0.673          0.899          -1.373         315            90             180
  76  StoveKnob       0.673          0.899          -1.519         315            90             180
  77  StoveKnob       0.673          0.899          -1.086         315            90             180
  78  StoveKnob       0.673          0.899          -1.237         315            90             180
  79  Toaster         0.984          0.900          0.329          0              270            0
  80  Window          0.014          0.998          -2.640         90             0              0
  81  Window          -2.996         0.998          -2.640         90             0              0
  82  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  83  GarbageCan      -0.946         -0.036         0.575          0              180            0
  84  SinkBasin       -0.698         0.765          -0.647         0              90             0
  85  Microwave       1.042          1.680          -1.295         0              270            0
  86  Fridge          0.966          0.0            1.253          0              0              0
  87  HousePlant      -1.354         0.919          -1.540         0              0              0
  88  Shelf           -1.635         0.172          2.715          0              180            0
  89  Shelf           -1.635         0.552          2.715          0              180            0
  90  Shelf           -1.635         0.880          2.715          0              180            0
  91  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  92  Chair           -1.832         0.002          -0.034         0              119.999        0
  93  Chair           -1.854         0.002          -0.956         0              67.887         0
  94  Faucet          -0.867         1.161          -0.651         0              0              0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: turn left and then turn right at the fridge going just pass it to the counter on the left | STEP 2: pick up the knife on the counter | STEP 3: turn left and then right crossing over to the sink | STEP 4: cut a slice out of the tomato | STEP 5: place knife in the sink and pick up tomato slice | STEP 6: turn around and go to the microwave over the stove | STEP 7: place tomato in the microwave | STEP 8: close the door and turn on for several seconds and then take it out and close the door | STEP 9: turn around and go back to the sink | STEP 10: place the tomato in the sink | END