Task: slice a tomato, heat it up in the microwave, and place it 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           -0.5           0.914          1.75           0              270            0
   1  DishSponge      -2.511         0.080          3.664          0              0              0              55
   2  DishSponge      -0.994         0.891          0.255          0              90             0              80
   3  ButterKnife     -3.463         0.915          1.440          0              0              0              53
   4  Spatula         -3.081         0.930          1.607          0              270            0              53
   5  Fork            -1.524         0.880          0.050          0              90             0              80
   6  Fork            -1.655         0.880          0.152          0              180            0              80
   7  Pot             -3.424         0.966          1.971          0              0              0              52
   8  Knife           -1.711         0.939          3.475          0              0              0              44
   9  Knife           -3.097         0.768          1.510          0              270            0              45
  10  Tomato          -2.905         0.984          3.998          0              0              0              44
  11  Tomato          -3.081         0.984          2.844          0              0              0              44
  12  SoapBottle      -1.127         0.891          -0.053         0              90             0              80
  13  Bowl            -2.840         0.079          3.624          0              0              0              56
  14  Bowl            -0.323         1.272          4.062          0              180            0              70
  15  SaltShaker      -2.022         0.911          4.104          0              0              0              44
  16  PepperShaker    -3.097         0.743          3.083          0              0              0              46
  17  Lettuce         -1.711         1.001          4.146          0              0              0              44
  18  Lettuce         -1.259         0.977          0.255          0              90             0              80
  19  Apple           -0.673         1.601          4.067          0              180            0              70
  20  Apple           -3.505         1.606          2.172          0              90             0              75
  21  Egg             -3.176         0.950          3.336          0              0              0              44
  22  Knife           -3.272         0.939          1.273          0              0              0              53
  23  Fork            -2.402         0.916          3.998          0              0              0              44
  24  Bread           -1.520         0.963          0.290          0              280.330        0              80
  25  Potato          -0.556         1.018          3.988          0              180            0              70
  26  Plate           -3.006         0.904          3.677          0              0              0              44
  27  Pot             -3.424         0.966          2.374          0              0              0              50
  28  Kettle          -3.145         0.069          2.920          0              270            0              57
  29  WineBottle      -1.256         0.088          3.852          0              270            0              76
  30  Bowl            -3.508         1.458          2.846          0              0              0              51
  31  Tomato          -1.523         0.960          0.564          0              90             0              80
  32  Cup             -1.127         0.891          0.461          0              90             0              80
  33  Spatula         -3.654         0.930          1.106          0              90             0              53
  34  SoapBottle      -3.231         0.083          1.591          0              0              0              63
  35  Lettuce         -0.790         1.072          4.051          0              180            0              70
  36  Pan             -2.614         0.902          3.620          0              0              0              44
  37  Apple           -1.921         0.849          3.662          0              0              0              74
  38  SaltShaker      -3.538         1.451          3.729          0              0              0              61
  39  PepperShaker    -3.185         0.743          3.027          0              0              0              46
  40  ButterKnife     -3.176         0.915          3.827          0              0              0              44
  41  DishSponge      -3.098         0.746          3.326          0              0              0              54
  42  Spoon           -1.815         0.916          4.188          0              0              0              44
  43  Mug             -3.191         0.078          1.122          0              0              0              63
  44  CounterTop      -3.381         0.950          3.335          0              0              0
  45  Drawer          -3.121         0.775          1.357          0              0              0
  46  Drawer          -3.121         0.777          2.916          0              0              0
  47  StoveBurner     -3.148         0.958          2.374          0              0              0
  48  Sink            -1.797         0.917          3.660          0              0              0
  49  Cabinet         -1.421         0.388          3.459          0              0              0
  50  StoveBurner     -3.424         0.958          2.374          0              0              0
  51  Cabinet         -3.365         1.931          2.676          0              0              0
  52  StoveBurner     -3.424         0.958          1.971          0              0              0
  53  CounterTop      -3.381         0.951          1.356          0              0              0
  54  Drawer          -3.121         0.781          3.295          0              0              0
  55  Cabinet         -2.205         0.388          3.459          0              0              0
  56  Cabinet         -2.963         0.388          3.459          0              0              0
  57  Cabinet         -2.992         0.388          2.683          0              0              0
  58  Cabinet         -3.352         2.205          1.715          0              0              0
  59  Cabinet         -3.352         2.205          2.653          0              0              0
  60  Cabinet         -2.189         0.388          3.466          0              0              0
  61  Cabinet         -3.365         1.931          3.963          0              0              0
  62  Cabinet         -3.365         1.931          1.056          0              0              0
  63  Cabinet         -2.992         0.388          1.037          0              0              0
  64  StoveBurner     -3.143         0.958          1.971          0              0              0
  65  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  66  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  67  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  68  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  69  Toaster         -2.654         0.902          4.064          0              180            0
  70  Fridge          -0.439         0.014          3.996          0              0              0
  71  LightSwitch     0.25           1.383          2.085          0              270            0
  72  Window          -1.430         1.338          -0.347         90             0              0
  73  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  74  SinkBasin       -1.802         0.778          3.700          0              0              0
  75  Microwave       -3.484         1.430          2.182          0              90             0
  76  GarbageCan      -1.184         -0.020         3.794          0              270            0
  77  Blinds          -1.404         2.092          -0.296         0              0              0
  78  Stool           -1.373         0.014          1.048          1.214          20.754         0
  79  Faucet          -1.788         0.903          3.931          270            90             0
  80  DiningTable     -1.399         0.010          0.238          0              0              0
  81  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: go straight, then turn right and face the counter top to the right of the stove top | STEP 2: pick up the knife to the left of the toaster | STEP 3: face the counter top with the toaster | STEP 4: slice the tomato on the counter top to the left of the toaster | STEP 5: turn left and face the counter top immediately to the right of the stove top | STEP 6: place the knife down on the counter top to the right of the whole tomato | STEP 7: face the toaster area of the counter top again | STEP 8: pick up a slice of tomato on the counter top | STEP 9: go to the stove top and look up at the microwave | STEP 10: open the microwave door and place the tomato on the far right, heat it up for several seconds, then remove it | STEP 11: turn around, then move right to the sink | STEP 12: place the tomato slice on the far right of the sink | END