Task: put a slice of tomato inside a microwave

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          0.930          1.0            0              180            0
   1  Potato          0.851          0.751          -1.459         0              0              0              116
   2  Potato          1.086          1.111          -1.531         0              0              0              116
   3  Ladle           0.605          0.947          0.218          0              36.810         0              101
   4  Ladle           0.967          0.945          0.038          0              0              0              101
   5  DishSponge      0.404          1.259          -1.741         0              0              0              86
   6  ButterKnife     0.054          0.900          -1.481         0              45             0              91
   7  Kettle          -0.239         0.902          -1.089         0              315            0              99
   8  Kettle          -0.419         0.902          -1.269         0              315            0              72
   9  Pot             -0.862         0.900          0.846          0              0              0              70
  10  Spatula         2.988          0.727          -0.501         0              90             0              66
  11  Spatula         -0.786         0.341          0.163          0              270            0              75
  12  Fork            -0.827         0.326          -0.186         0              0              0              75
  13  Fork            -0.827         0.518          1.343          0              0              0              58
  14  Mug             -0.033         0.895          -1.291         0              45             0              91
  15  Bread           0.494          0.986          0.301          0              36.810         0              101
  16  Lettuce         0.798          0.976          0.426          0              0              0              101
  17  Lettuce         0.022          0.965          -1.731         0              0              0              91
  18  SaltShaker      -0.868         0.322          1.605          0              0              0              105
  19  SaltShaker      3.373          0.897          -0.151         0              0              0              69
  20  PepperShaker    3.146          1.260          -0.854         0              0              0              83
  21  SoapBottle      0.731          0.917          0.733          0              36.810         0              101
  22  SoapBottle      -0.090         0.909          -1.440         0              45             0              91
  23  Egg             -1.018         1.050          1.523          0              90             0              118
  24  Egg             -0.985         1.050          1.364          0              90             0              118
  25  Cup             0.887          0.908          0.727          0              0              0              101
  26  Cup             0.889          0.908          0.249          0              36.810         0              101
  27  Plate           3.173          1.477          -1.235         0              0              0              84
  28  Plate           3.140          0.190          0.700          0              0              0              79
  29  Knife           3.122          0.926          -0.300         0              0              0              69
  30  Knife           -1.008         0.925          0.176          0              0              0              70
  31  Plate           0.808          1.687          -1.480         0              0              0              85
  32  Glassbottle     -0.717         0.901          -0.494         0              0              0              70
  33  SoapBottle      3.128          0.110          1.653          0              225            0              111
  34  Potato          1.086          0.924          -1.531         0              0              0              116
  35  Fork            3.069          0.747          0.032          0              270            0              115
  36  Ladle           3.028          0.212          -0.786         0              0              0              82
  37  Pot             1.098          0.908          0.464          0              270            0              101
  38  Kettle          -0.420         0.902          -0.920         0              135            0              65
  39  Spatula         -0.868         0.533          0.926          0              270            0              67
  40  Knife           -0.936         0.925          -0.695         0              135            0              70
  41  Lettuce         -0.775         0.965          -0.854         0              45             0              70
  42  Cup             3.044          0.898          -0.499         0              0              0              69
  43  SaltShaker      -0.705         0.896          -0.621         0              45             0              70
  44  Egg             0.773          0.938          -1.559         0              0              0              116
  45  PepperShaker    -0.006         0.318          -1.328         0              45             0              95
  46  ButterKnife     0.151          0.900          -1.476         0              135            0              91
  47  Apple           2.888          0.974          -0.399         0              0              0              69
  48  Pan             0.341          0.873          -1.649         0              167.065        0              91
  49  Bread           -0.935         0.979          0.399          0              0              0              70
  50  CellPhone       -1.153         0.897          0.399          0              0              0              74
  51  DishSponge      -0.731         0.517          -0.707         0              45             0              93
  52  Tomato          -0.935         0.937          0.623          0              0              0              70
  53  Spoon           -0.868         0.707          1.343          0              0              0              63
  54  Bowl            2.971          0.172          -0.404         0              0              0              81
  55  Mug             0.622          0.905          0.627          0              0              0              101
  56  Drawer          0.376          0.572          -1.509         0              0              0
  57  Drawer          3.020          0.769          -0.783         0              180            0
  58  Drawer          -0.860         0.577          1.429          0              0              0
  59  StoveBurner     -0.600         0.897          -1.090         0              135            0
  60  Drawer          0.376          0.191          -1.509         0              0              0
  61  Cabinet         1.402          1.874          -1.259         0              0              0
  62  Cabinet         -0.202         1.963          -1.328         0              0              0
  63  Drawer          -0.860         0.765          1.429          0              0              0
  64  Drawer          -0.677         0.765          -0.700         0              0              0
  65  StoveBurner     -0.420         0.897          -0.920         0              135            0
  66  Drawer          3.020          0.769          -0.407         0              180            0
  67  Drawer          -0.860         0.577          0.663          0              0              0
  68  Cabinet         2.819          1.768          -1.850         0              0              0
  69  CounterTop      3.111          0.936          0.019          0              0              0
  70  CounterTop      -1.007         0.935          -0.039         0              0              0
  71  Drawer          -0.860         0.385          0.663          0              0              0
  72  StoveBurner     -0.419         0.897          -1.269         0              315            0
  73  Drawer          -0.047         0.573          -1.324         0              0              0
  74  Drawer          -0.860         0.765          0.663          0              0              0
  75  Drawer          -0.860         0.385          -0.100         0              0              0
  76  Drawer          0.376          0.380          -1.509         0              0              0
  77  Drawer          -0.860         0.765          -0.100         0              0              0
  78  Drawer          0.376          0.765          -1.509         0              0              0
  79  Cabinet         2.849          0.419          0.409          0              0              0
  80  Drawer          -0.047         0.765          -1.324         0              0              0
  81  Cabinet         2.849          0.419          -0.610         0              0              0
  82  Cabinet         2.849          0.419          -0.959         0              0              0
  83  Cabinet         3.069          1.666          -0.709         0              0              0
  84  Cabinet         2.819          1.768          -1.047         0              0              0
  85  Cabinet         0.620          1.874          -1.259         0              0              0
  86  Cabinet         0.140          1.666          -1.559         0              0              0
  87  Cabinet         -0.189         1.666          -1.340         0              0              0
  88  Cabinet         -0.709         1.963          -0.819         0              0              0
  89  Cabinet         -0.920         1.665          -0.620         0              0              0
  90  Drawer          -0.860         0.190          -0.100         0              0              0
  91  CounterTop      0.133          0.935          -1.457         0              0              0
  92  Drawer          3.020          0.769          0.695          0              180            0
  93  Drawer          -0.677         0.577          -0.700         0              0              0
  94  Drawer          -0.860         0.190          1.429          0              0              0
  95  Drawer          -0.047         0.192          -1.324         0              0              0
  96  Drawer          -0.677         0.193          -0.700         0              0              0
  97  Drawer          -0.860         0.577          -0.100         0              0              0
  98  Sink            3.078          0.887          0.086          0              0              0
  99  StoveBurner     -0.239         0.897          -1.089         0              315            0
 100  Drawer          -0.860         0.190          0.663          0              0              0
 101  CounterTop      1.210          0.937          0.463          0              0              0
 102  Drawer          -0.047         0.381          -1.324         0              0              0
 103  Drawer          -0.677         0.387          -0.700         0              0              0
 104  Mirror          -1.295         1.630          0.045          0              0              0
 105  Drawer          -0.860         0.385          1.429          0              0              0
 106  HousePlant      3.196          0.891          -0.368         0              0              0
 107  StoveKnob       -0.090         0.790          -1.009         270            45             0
 108  StoveKnob       -0.280         0.790          -0.819         270            45             0
 109  StoveKnob       -0.180         0.790          -0.920         270            45             0
 110  StoveKnob       -0.370         0.790          -0.720         270            45             0
 111  GarbageCan      3.137          0.025          1.545          0              225            0
 112  Window          3.703          1.675          0.046          90             90             0
 113  CoffeeMachine   3.214          0.890          0.697          0              270            0
 114  LightSwitch     2.592          1.309          -1.880         0              0              0
 115  SinkBasin       3.069          0.736          0.108          0              90             0
 116  Fridge          1.008          0.029          -1.467         0              0              0
 117  Toaster         -1.035         0.873          -0.396         0              90             0
 118  Microwave       -1.034         0.874          1.428          0              90             0
 119  Faucet          3.305          0.886          0.094          270            180            0
 120  NorthWall
 121  EastWall
 122  SouthWall
 123  WestWall

Plan:
STEP 1: go forward turn to the right | STEP 2: pick up a knife from the counter  | STEP 3: turn to the right go left | STEP 4: slice the tomato that is on the counter | STEP 5: turn to the left go left turn to the left go forward towards the sink | STEP 6: put the knife inside the sink | STEP 7: turn to the right go right turn to the right go left towards the counter  | STEP 8: pick up a slice of tomato from the counter | STEP 9: turn to the left go left turn to the left go right towards the sink | STEP 10: put the slice of tomato inside the sink | STEP 11: rinse off the slice of tomato turn to the right go right turn to the right go left towards the microwave | STEP 12: put the slice of tomato inside the microwave | END