Task: Cook a sliced tomato in the microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          1.25           0              270            0
   1  Ladle           0.457          0.957          -2.169         0              0              0              61
   2  DishSponge      1.181          0.118          -1.968         0              0              0              53
   3  DishSponge      -1.254         2.147          -1.129         0              90             0              45
   4  ButterKnife     0.408          0.930          1.220          0              270            0              78
   5  Pot             0.408          0.925          0.991          0              0              0              78
   6  Fork            0.408          0.927          0.305          0              0              0              78
   7  Fork            -0.356         0.765          -2.071         0              90             0              73
   8  Egg             -0.210         0.818          -1.936         0              0              0              73
   9  Cup             1.466          0.913          -1.329         0              0              0              61
  10  Plate           1.359          0.556          2.482          0              0              0              81
  11  Knife           -0.283         0.787          -1.981         0              270            0              73
  12  Tomato          0.408          0.978          0.534          0              0              0              78
  13  Bowl            -0.047         0.927          0.305          0              0              0              78
  14  SaltShaker      0.294          0.926          1.448          0              0              0              78
  15  PepperShaker    1.259          0.877          2.510          0              0              0              87
  16  PepperShaker    -0.160         0.923          0.991          0              0              0              78
  17  Bread           0.066          0.972          1.220          0              0              0              78
  18  Mug             -0.242         2.146          -2.120         0              270            0              46
  19  Apple           -0.210         0.835          -2.116         0              0              0              73
  20  Potato          0.294          0.959          1.220          0              0              0              78
  21  Bowl            -1.380         1.180          -0.495         0              90             0              69
  22  SoapBottle      0.522          0.929          0.076          0              0              0              78
  23  Fork            -0.064         0.765          -1.981         0              0              0              73
  24  Ladle           1.909          1.702          -1.673         0              270            0              51
  25  Bread           0.180          0.972          0.534          0              0              0              78
  26  Lettuce         1.738          0.994          -1.563         0              0              0              61
  27  WineBottle      1.294          0.120          -1.806         0              0              0              53
  28  Spatula         -0.047         0.945          0.762          0              0              0              78
  29  Plate           1.647          0.916          -1.329         0              0              0              61
  30  SaltShaker      -1.036         0.909          -2.260         0              0              0              61
  31  Pot             -0.117         0.921          1.5            0              0              0              78
  32  Cup             1.466          0.913          -1.095         0              0              0              61
  33  PepperShaker    0.180          0.926          0.305          0              0              0              78
  34  Pan             1.824          0.945          -0.346         0              0              0              42
  35  ButterKnife     -0.047         0.926          0.534          0              0              0              78
  36  Tomato          0.522          0.982          0.305          0              0              0              78
  37  DishSponge      1.850          0.913          -2.002         0              0              0              61
  38  Egg             0.066          0.984          0.762          0              0              0              78
  39  Spoon           -0.047         0.931          0.076          0              0              0              78
  40  Knife           1.153          0.936          -2.002         0              0              0              61
  41  Mug             -1.533         1.499          -0.806         0              90             0              69
  42  StoveBurner     1.845          0.940          -0.355         0              0              0
  43  StoveBurner     1.567          0.940          -0.757         0              0              0
  44  Cabinet         -1.149         2.019          -1.979         0              90             0
  45  Cabinet         -1.149         2.265          -0.834         0              90             0
  46  Cabinet         -0.459         2.265          -2.0           0              0              0
  47  Cabinet         -1.100         2.019          -2.0           0              0              0
  48  Cabinet         1.719          2.019          -2.0           0              0              0
  49  Cabinet         1.179          2.019          -2.0           0              0              0
  50  Cabinet         0.199          2.019          -2.0           0              0              0
  51  Cabinet         1.75           2.019          -1.399         0              270            0
  52  Cabinet         1.75           2.019          -1.029         0              270            0
  53  Cabinet         1.379          0.469          -1.689         0              0              0
  54  Cabinet         -0.819         0.469          -1.689         0              0              0
  55  Cabinet         1.389          0.469          -1.059         0              270            0
  56  Cabinet         -0.839         0.469          -1.665         0              90             0
  57  StoveBurner     1.567          0.940          -0.355         0              0              0
  58  StoveBurner     1.845          0.940          -0.757         0              0              0
  59  Sink            -0.109         0.893          -2.009         0              0              0
  60  Drawer          -0.819         0.75           -1.690         0              0              0
  61  CounterTop      0.232          0.949          -2.002         0              0              0
  62  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  63  Vase            0.251          0.546          0.475          0              270            0
  64  Toaster         0.780          0.900          -2.080         0              0              0
  65  LightSwitch     0.108          1.315          2.75           0              180            0
  66  Vase            0.400          0.925          0.218          0              180            0
  67  Microwave       -1.233         0.900          -1.680         0              90             0
  68  Vase            1.465          1.662          -2.200         0              0              0
  69  Fridge          -1.495         0.0            -0.703         0              0              0
  70  Window          2.114          1.495          1.072          90             270            0
  71  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  72  Vase            0.333          0.546          1.272          0              270            0
  73  SinkBasin       -0.148         0.753          -2.026         0              0              0
  74  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  75  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  78  DiningTable     0.170          0.005          0.678          0              270            0
  79  Shelf           0.170          0.155          0.678          0              270            0
  80  Shelf           1.605          0.172          2.480          0              0              0
  81  Shelf           1.605          0.552          2.480          0              0              0
  82  Shelf           1.604          0.880          2.479          0              0              0
  83  ShelvingUnit    1.605          0.006          2.480          0              0              0
  84  Faucet          -0.143         1.028          -2.223         0              270            0
  85  Stool           -0.553         0.000          0.871          1.233          280.376        0
  86  Shelf           0.170          0.528          0.678          0              270            0
  87
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: turn right, walk towards the door, turn right at the door, then turn right at the shelf, stop at the kitchen island | STEP 2: Pick up the the tomato from the island | STEP 3: walk towards the sink next to the refrigerator | STEP 4: put the tomato in the sink | STEP 5: retrieve a knife  from the sink | STEP 6: cut the tomato in the sink | STEP 7: put the knife back in the sink | STEP 8: wash the tomato in the sink | STEP 9: take the tomato out of the sink | STEP 10: turn right and walk towards the microwave | STEP 11: put the tomato in the microwave | END