Task: Slice a tomato and cool it down, place it 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           2.0            0.930          -1.0           0              0              0
   1  Ladle           3.140          0.214          0.700          0              0              0              73
   2  DishSponge      3.246          1.263          -0.854         0              0              0              77
   3  DishSponge      2.971          0.175          -0.828         0              0              0              76
   4  Glassbottle     0.354          1.260          -1.776         0              0              0              80
   5  Glassbottle     -0.919         1.259          -0.860         0              45             0              83
   6  Spoon           -0.868         0.519          -0.186         0              0              0              91
   7  Fork            -0.991         0.707          1.605          0              90             0              57
   8  CellPhone       0.494          0.897          -1.373         0              0              0              85
   9  CellPhone       2.888          0.898          -0.399         0              0              0              63
  10  Mug             1.164          1.242          -1.475         0              0              0              110
  11  Apple           1.008          1.321          -1.503         0              0              0              110
  12  Bread           -0.862         0.979          0.399          0              0              0              64
  13  Lettuce         -1.008         0.965          -0.047         0              0              0              64
  14  SaltShaker      0.376          0.701          -1.515         0              0              0              72
  15  SaltShaker      -0.731         0.703          -0.707         0              45             0              58
  16  Bowl            3.244          1.461          -1.284         0              0              0              78
  17  Bowl            3.031          1.461          -1.284         0              0              0              78
  18  SoapBottle      -0.717         0.909          0.623          0              0              0              64
  19  SoapBottle      0.772          0.920          0.093          0              36.810         0              95
  20  Tomato          -0.597         0.937          -0.730         0              45             0              64
  21  Tomato          3.181          0.137          1.546          0              225            0              105
  22  Cup             -0.731         0.898          -0.489         0              45             0              64
  23  Knife           0.179          0.925          -1.516         0              0              0              85
  24  Knife           0.602          0.933          0.098          0              36.810         0              95
  25  Plate           3.181          1.477          -1.648         0              0              0              62
  26  Glassbottle     0.887          0.911          0.326          0              0              0              95
  27  SoapBottle      3.255          0.184          -0.744         0              0              0              76
  28  Potato          0.929          0.924          -1.503         0              0              0              110
  29  Fork            3.029          0.713          -0.408         0              180            0              60
  30  Ladle           2.906          0.749          0.829          0              270            0              86
  31  Pot             0.423          0.900          0.869          0              0              0              95
  32  Kettle          -0.237         0.900          -1.099         0              45             0              93
  33  Spatula         3.122          0.915          -0.897         0              90             0              63
  34  Knife           2.988          0.738          -0.454         0              90             0              60
  35  Lettuce         0.783          0.973          0.572          0              36.810         0              95
  36  Cup             1.086          0.709          -1.433         0              0              0              110
  37  SaltShaker      0.022          0.896          -1.373         0              0              0              85
  38  Egg             -1.052         1.050          1.258          0              90             0              112
  39  PepperShaker    -0.909         0.127          0.489          0              0              0              65
  40  ButterKnife     0.967          0.908          0.180          0              0              0              95
  41  Apple           1.229          0.984          0.605          0              0              0              95
  42  Pan             -0.419         0.902          -1.269         0              315            0              66
  43  Bread           1.534          0.972          0.486          0              289.287        0              95
  44  CellPhone       0.468          0.510          -1.515         0              0              0              50
  45  DishSponge      -0.950         0.130          1.518          0              0              0              88
  46  Tomato          3.028          0.784          -0.100         0              90             0              109
  47  Spoon           3.111          0.748          0.165          0              0              0              109
  48  Bowl            -1.052         0.994          1.417          0              90             0              112
  49  Mug             3.049          0.966          0.591          0              270            0              107
  50  Drawer          0.376          0.572          -1.509         0              0              0
  51  Drawer          3.020          0.769          -0.783         0              180            0
  52  Drawer          -0.860         0.577          1.429          0              0              0
  53  StoveBurner     -0.600         0.897          -1.090         0              135            0
  54  Drawer          0.376          0.191          -1.509         0              0              0
  55  Cabinet         1.402          1.874          -1.259         0              0              0
  56  Cabinet         -0.202         1.963          -1.328         0              0              0
  57  Drawer          -0.860         0.765          1.429          0              0              0
  58  Drawer          -0.677         0.765          -0.700         0              0              0
  59  StoveBurner     -0.420         0.897          -0.920         0              135            0
  60  Drawer          3.020          0.769          -0.407         0              180            0
  61  Drawer          -0.860         0.577          0.663          0              0              0
  62  Cabinet         2.819          1.768          -1.850         0              0              0
  63  CounterTop      3.111          0.936          0.019          0              0              0
  64  CounterTop      -1.007         0.935          -0.039         0              0              0
  65  Drawer          -0.860         0.385          0.663          0              0              0
  66  StoveBurner     -0.419         0.897          -1.269         0              315            0
  67  Drawer          -0.047         0.573          -1.324         0              0              0
  68  Drawer          -0.860         0.765          0.663          0              0              0
  69  Drawer          -0.860         0.385          -0.100         0              0              0
  70  Drawer          0.376          0.380          -1.509         0              0              0
  71  Drawer          -0.860         0.765          -0.100         0              0              0
  72  Drawer          0.376          0.765          -1.509         0              0              0
  73  Cabinet         2.849          0.419          0.409          0              0              0
  74  Drawer          -0.047         0.765          -1.324         0              0              0
  75  Cabinet         2.849          0.419          -0.610         0              0              0
  76  Cabinet         2.849          0.419          -0.959         0              0              0
  77  Cabinet         3.069          1.666          -0.709         0              0              0
  78  Cabinet         2.819          1.768          -1.047         0              0              0
  79  Cabinet         0.620          1.874          -1.259         0              0              0
  80  Cabinet         0.140          1.666          -1.559         0              0              0
  81  Cabinet         -0.189         1.666          -1.340         0              0              0
  82  Cabinet         -0.709         1.963          -0.819         0              0              0
  83  Cabinet         -0.920         1.665          -0.620         0              0              0
  84  Drawer          -0.860         0.190          -0.100         0              0              0
  85  CounterTop      0.133          0.935          -1.457         0              0              0
  86  Drawer          3.020          0.769          0.695          0              180            0
  87  Drawer          -0.677         0.577          -0.700         0              0              0
  88  Drawer          -0.860         0.190          1.429          0              0              0
  89  Drawer          -0.047         0.192          -1.324         0              0              0
  90  Drawer          -0.677         0.193          -0.700         0              0              0
  91  Drawer          -0.860         0.577          -0.100         0              0              0
  92  Sink            3.078          0.887          0.086          0              0              0
  93  StoveBurner     -0.239         0.897          -1.089         0              315            0
  94  Drawer          -0.860         0.190          0.663          0              0              0
  95  CounterTop      1.210          0.937          0.463          0              0              0
  96  Drawer          -0.047         0.381          -1.324         0              0              0
  97  Drawer          -0.677         0.387          -0.700         0              0              0
  98  Mirror          -1.295         1.630          0.045          0              0              0
  99  Drawer          -0.860         0.385          1.429          0              0              0
 100  HousePlant      3.196          0.891          -0.368         0              0              0
 101  StoveKnob       -0.090         0.790          -1.009         270            45             0
 102  StoveKnob       -0.280         0.790          -0.819         270            45             0
 103  StoveKnob       -0.180         0.790          -0.920         270            45             0
 104  StoveKnob       -0.370         0.790          -0.720         270            45             0
 105  GarbageCan      3.137          0.025          1.545          0              225            0
 106  Window          3.703          1.675          0.046          90             90             0
 107  CoffeeMachine   3.214          0.890          0.697          0              270            0
 108  LightSwitch     2.592          1.309          -1.880         0              0              0
 109  SinkBasin       3.069          0.736          0.108          0              90             0
 110  Fridge          1.008          0.029          -1.467         0              0              0
 111  Toaster         -1.035         0.873          -0.396         0              90             0
 112  Microwave       -1.034         0.874          1.428          0              90             0
 113  Faucet          3.305          0.886          0.094          270            180            0
 114  NorthWall
 115  EastWall
 116  SouthWall
 117  WestWall

Plan:
STEP 1: turn left and go straight to the toaster on the counter top | STEP 2: pick up the tomato on the counter top | STEP 3: turn around, then face the counter top on the left | STEP 4: place the tomato on the counter top in front of the knife | STEP 5: pick up the knife behind the tomato on the counter | STEP 6: slice the tomato on the counter | STEP 7: put the knife down on the counter to the right of the tomato slices | STEP 8: pick up a tomato slice on the counter | STEP 9: go to the refrigerator behind you | STEP 10: open the refrigerator and put the tomato in the top drawer, then shut the door for a few seconds and take the tomato slice out | STEP 11: move right along the counter top until you reach the wall, then face the microwave on the left | STEP 12: put the tomato in the microwave in front of the potato | END