Task: slice a tomato put it inside 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           1.5            0.900          0.75           0              0              0
   1  Potato          0.193          0.800          -0.596         0              0              0              104
   2  Potato          -1.056         0.855          -1.257         0              90             0              106
   3  DishSponge      -1.962         0.423          1.332          0              270            0              100
   4  Kettle          1.422          0.912          1.468          0              0              0              82
   5  ButterKnife     -0.836         0.820          -1.255         0              0              0              106
   6  ButterKnife     0.634          0.911          -0.515         0              0              0              47
   7  Pot             0.707          2.157          1.468          0              0              0              56
   8  Pot             2.715          1.567          -0.709         0              0              0              102
   9  Spoon           0.123          0.766          -0.707         0              0              0              104
  10  Spoon           -0.911         0.822          -1.360         0              90             0              106
  11  Fork            1.862          0.772          1.198          0              270            0              80
  12  Fork            2.156          0.912          -0.430         0              0              0              47
  13  Plate           1.179          1.658          1.468          0              0              0              74
  14  Plate           1.955          0.914          1.299          0              0              0              82
  15  Cup             2.906          1.652          1.546          0              0              0              48
  16  Cup             0.888          0.909          -0.854         0              0              0              47
  17  SoapBottle      1.559          1.661          -0.732         0              180            0              69
  18  Tomato          -0.246         0.942          1.214          0              0              0              58
  19  SaltShaker      -0.887         0.817          -1.400         0              0              0              106
  20  SaltShaker      -0.621         0.817          -1.257         0              90             0              106
  21  Bread           2.221          0.969          1.468          0              0              0              82
  22  Mug             0.570          1.779          1.488          0              180            0              105
  23  Apple           -0.694         0.889          -1.360         0              90             0              106
  24  SoapBottle      -0.785         0.826          -1.473         0              0              0              106
  25  Plate           2.524          1.658          1.468          0              0              0              72
  26  Fork            1.688          0.912          1.383          0              0              0              82
  27  Pot             2.754          0.915          1.468          0              0              0              82
  28  Bread           2.221          0.969          1.129          0              0              0              82
  29  Egg             0.466          1.822          1.455          0              180            0              105
  30  Kettle          1.155          0.912          1.383          0              0              0              82
  31  Tomato          -1.991         0.455          1.459          0              270            0              100
  32  Cup             1.688          0.909          1.553          0              0              0              82
  33  Spatula         2.156          0.926          -0.684         0              0              0              47
  34  Apple           1.688          0.980          1.129          0              0              0              82
  35  Pan             0.678          0.964          1.345          0              0              0              85
  36  Lettuce         2.488          0.992          1.299          0              0              0              82
  37  SaltShaker      1.141          0.908          -0.854         0              0              0              47
  38  Knife           0.026          0.758          -0.592         273.786        317.657        5.542          104
  39  Potato          -0.766         0.855          -1.155         0              90             0              106
  40  PepperShaker    -0.007         0.908          1.044          0              0              0              58
  41  ButterKnife     -0.198         0.911          1.468          0              0              0              58
  42  Bowl            2.777          0.724          -0.504         0              0              0              102
  43  DishSponge      -0.103         0.911          1.299          0              0              0              58
  44  Spoon           -0.694         0.822          -1.206         0              90             0              106
  45  Mug             -0.087         0.760          -0.541         0              0              0              104
  46  Sink            0.050          0.902          -0.648         0              0              0
  47  CounterTop      1.358          0.947          -0.600         0              0              0
  48  Cabinet         2.986          2.009          1.304          0              0              0
  49  Cabinet         1.022          2.009          -0.607         0              180            0
  50  StoveBurner     0.678          0.923          1.082          0              0              0
  51  Cabinet         2.371          0.402          0.995          0              0              0
  52  Drawer          -0.125         0.792          0.995          0              0              0
  53  StoveBurner     0.281          0.923          1.082          0              0              0
  54  Cabinet         1.025          0.402          0.995          0              0              0
  55  Cabinet         1.023          0.402          -0.296         0              180            0
  56  Cabinet         0.974          2.259          1.304          0              0              0
  57  Cabinet         0.979          2.009          -0.607         0              180            0
  58  CounterTop      -0.158         0.947          1.299          0              0              0
  59  Cabinet         1.725          2.009          1.304          0              0              0
  60  Drawer          2.205          0.792          -0.294         0              180            0
  61  Drawer          1.869          0.792          -0.294         0              180            0
  62  StoveBurner     0.281          0.923          1.347          0              0              0
  63  Drawer          2.512          0.792          0.995          0              0              0
  64  Cabinet         1.673          0.402          -0.296         0              180            0
  65  Drawer          1.524          0.792          0.995          0              0              0
  66  Drawer          1.174          0.792          -0.294         0              180            0
  67  Cabinet         1.720          0.402          0.995          0              0              0
  68  Cabinet         2.348          2.009          -0.607         0              180            0
  69  Cabinet         1.676          2.009          -0.607         0              180            0
  70  Cabinet         1.673          2.009          1.304          0              0              0
  71  Cabinet         2.326          2.009          1.304          0              0              0
  72  Cabinet         2.370          2.009          1.304          0              0              0
  73  Cabinet         0.021          2.009          1.304          0              0              0
  74  Cabinet         1.025          2.009          1.304          0              0              0
  75  Cabinet         -0.274         0.402          0.995          0              0              0
  76  Cabinet         1.675          0.402          0.995          0              0              0
  77  Drawer          1.524          0.792          -0.294         0              180            0
  78  Drawer          2.187          0.792          0.995          0              0              0
  79  Cabinet         2.977          0.402          0.995          0              0              0
  80  Drawer          1.862          0.792          0.995          0              0              0
  81  Cabinet         0.072          2.259          1.304          0              0              0
  82  CounterTop      1.917          0.947          1.299          0              0              0
  83  Cabinet         2.328          0.402          0.995          0              0              0
  84  Cabinet         1.723          2.009          -0.607         0              180            0
  85  StoveBurner     0.677          0.923          1.345          0              0              0
  86  Cabinet         0.355          2.009          -0.607         0              180            0
  87  Cabinet         0.332          2.009          -0.607         0              180            0
  88  Cabinet         2.349          0.402          -0.296         0              180            0
  89  Cabinet         -0.284         2.009          -0.607         0              180            0
  90  Faucet          0.061          0.906          -0.903         0              0              0
  91  Drawer          2.837          0.792          0.995          0              0              0
  92  Drawer          1.175          0.792          0.995          0              0              0
  93  Cabinet         1.723          0.402          -0.296         0              180            0
  94  StoveKnob       0.588          1.093          1.557          287.970        0              0
  95  StoveKnob       0.188          1.093          1.557          287.970        0              0
  96  StoveKnob       0.749          1.093          1.557          287.970        0              0
  97  StoveKnob       0.338          1.093          1.557          287.970        0              0
  98  Toaster         1.934          0.900          -0.717         0              0              0
  99  LightSwitch     -1.662         1.427          1.649          0              180            0
 100  GarbageCan      -1.965         -0.029         1.358          0              270            0
 101  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 102  Fridge          3.043          0.0            -0.709         0              0              0
 103  Window          -2.183         1.501          -0.014         90             270            0
 104  SinkBasin       0.043          0.755          -0.651         0              0              0
 105  Microwave       0.531          1.675          1.437          0              180            0
 106  DiningTable     -0.836         8.404          -1.258         0              0              0
 107  Chair           -1.611         0.002          -1.185         0              45             0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: turn around to the left towards the sink | STEP 2: pick up a knife from the sink | STEP 3: go left go right towards a blue container | STEP 4: slice a tomato that is inside the blue container | STEP 5: turn around to the left go forward towards the microwave | STEP 6: put the knife inside the microwave  | STEP 7: turn to the left go right | STEP 8: towards the blue container | STEP 9: pick up a slice of tomato | STEP 10: turn to the right forward go right face the refrigerator put the slice in the refrigerator  | STEP 11: get it back out from the refrigerator turn to the right towards the microwave | STEP 12: open the microwave door put the slice of tomato inside the microwave | END