Task: Cool a slice of tomato and put it into 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           0.0            0.908          2.75           0              180            0
   1  SprayBottle     -1.362         0.911          -0.392         0              0              0              74
   2  SprayBottle     -1.383         0.748          2.087          0              0              0              49
   3  CellPhone       -0.968         0.909          -0.828         0              0              0              74
   4  DishSponge      0.951          0.876          2.482          1.065          0              0              100
   5  ButterKnife     -0.144         0.758          -0.612         0              90             0              95
   6  Glassbottle     1.262          0.116          1.081          0              0              0              65
   7  WineBottle      -1.194         0.342          1.197          0              90             0              88
   8  WineBottle      -1.263         1.656          -0.481         0              0              0              55
   9  Spoon           -0.968         0.913          -0.748         0              0              0              74
  10  Spoon           -1.105         0.750          2.087          0              0              0              49
  11  Fork            1.200          0.886          2.477          0              90             0              100
  12  Spatula         -1.135         0.927          -0.732         0              270            0              74
  13  Spatula         1.117          0.881          2.800          0              180            0              100
  14  Pot             -1.197         0.750          2.459          0              0              0              49
  15  Egg             1.284          0.920          2.369          0              0              0              100
  16  SoapBottle      1.414          0.087          1.409          0              0              0              89
  17  PepperShaker    -0.919         0.745          2.644          0              0              0              49
  18  PepperShaker    1.207          0.907          0.706          0              0              0              68
  19  Mug             0.951          0.874          2.369          0              0              0              100
  20  Mug             0.103          0.753          -0.533         0              0              0              95
  21  Apple           -1.378         0.811          0.987          0              90             0              88
  22  Apple           -1.263         1.697          1.188          0              90             0              88
  23  Bread           1.067          0.939          2.685          0              0              1.323          100
  24  Glassbottle     -0.082         0.759          -0.573         0              0              0              95
  25  Fork            1.128          0.912          0.706          0              90             0              68
  26  Kettle          0.802          0.939          -0.740         0              90             0              77
  27  Tomato          -0.658         0.961          -0.828         0              0              0              74
  28  Plate           -1.325         2.154          1.093          0              0              0              66
  29  CellPhone       -0.919         0.747          2.273          0              0              0              49
  30  Lettuce         -1.197         0.819          2.830          0              0              0              49
  31  Pot             0.502          0.939          -0.740         0              90             0              75
  32  SoapBottle      1.200          0.887          2.261          0              0              0              100
  33  WineBottle      1.523          0.912          0.422          0              0              0              68
  34  Spatula         1.286          0.926          -0.144         0              180            0              68
  35  Bowl            -1.320         1.635          0.883          0              90             0              88
  36  Apple           1.049          0.971          0.706          0              0              0              68
  37  Cup             1.367          0.885          2.261          0              0              0              100
  38  Knife           -1.290         0.770          1.902          0              180            0              49
  39  Egg             1.367          0.920          2.692          0              0              0              100
  40  SaltShaker      -0.658         0.908          -0.589         0              0              0              74
  41  PepperShaker    -1.045         0.113          0.165          0              180            0              71
  42  Potato          1.444          0.956          -0.428         0              0              0              68
  43  ButterKnife     1.444          0.911          0.422          0              0              0              68
  44  DishSponge      1.444          0.911          0.139          0              0              0              68
  45  Pan             -1.332         0.9            -0.699         0              345.0          0              74
  46  Spoon           -0.919         0.750          2.459          0              0              0              49
  47  SprayBottle     1.207          0.910          -0.428         0              0              0              68
  48  Mug             -1.378         1.283          1.302          0              90             0              88
  49  DiningTable     -1.182         0.006          2.414          0              90             0
  50  Cabinet         1.184          2.059          0.375          0              0              0
  51  Cabinet         1.184          2.059          -0.635         0              0              0
  52  Cabinet         0.591          2.309          -0.645         0              0              0
  53  Cabinet         -0.574         2.059          -0.644         0              0              0
  54  Cabinet         -1.103         2.059          -0.644         0              0              0
  55  Cabinet         -1.185         2.059          -0.331         0              0              0
  56  Cabinet         -1.185         2.059          -0.281         0              0              0
  57  Cabinet         -1.185         2.059          0.375          0              0              0
  58  Cabinet         1.184          2.309          1.174          0              0              0
  59  Cabinet         1.184          2.309          0.424          0              0              0
  60  Cabinet         0.988          0.402          0.581          0              0              0
  61  Cabinet         0.988          0.402          0.531          0              0              0
  62  Cabinet         0.988          0.402          -0.178         0              0              0
  63  Cabinet         0.335          0.402          -0.348         0              0              0
  64  Cabinet         -0.374         0.402          -0.348         0              0              0
  65  Cabinet         0.988          0.402          1.231          0              0              0
  66  Cabinet         -1.185         2.309          1.374          0              0              0
  67  Cabinet         -1.185         2.309          0.424          0              0              0
  68  CounterTop      1.274          0.947          0.064          0              0              0
  69  Drawer          1.116          0.792          -0.015         0              0              0
  70  Drawer          -1.116         0.792          0.210          0              180            0
  71  Cabinet         -0.990         0.402          0.374          0              180            0
  72  Drawer          -1.116         0.792          -0.170         0              180            0
  73  Cabinet         -0.990         0.402          -0.335         0              180            0
  74  CounterTop      -1.001         0.947          -0.669         0              0              0
  75  StoveBurner     0.502          0.932          -0.740         0              90             0
  76  StoveBurner     0.801          0.932          -0.473         0              0              0
  77  StoveBurner     0.801          0.932          -0.740         0              90             0
  78  Drawer          1.116          0.792          1.081          0              0              0
  79  Sink            -0.013         0.912          -0.615         0              0              0
  80  Drawer          1.116          0.792          0.732          0              0              0
  81  StoveBurner     0.502          0.932          -0.469         0              0              0
  82  Drawer          1.116          0.792          0.367          0              0              0
  83  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  86  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  87  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  88  Fridge          -1.300         0.008          0.987          0              90             0
  89  GarbageCan      1.296          -0.024         1.465          0              0              0
  90  Window          -0.012         1.641          -0.972         90             0              0
  91  Window          1.598          1.646          2.489          90             270            0
  92  Toaster         1.356          0.900          1.044          0              270            0
  93  LightSwitch     0.118          1.353          3.799          0              180            0
  94  Microwave       -1.343         0.900          0.053          0              90             0
  95  SinkBasin       -0.029         0.748          -0.612         0              0              0
  96  Faucet          -0.026         0.927          -0.808         0              0              0
  97  Shelf           -1.182         0.127          2.414          0              90             0
  98  Stool           1.140          0.007          3.262          1.206          20.753         0
  99  Shelf           -1.182         0.435          2.414          0              90             0
 100  DiningTable     1.169          0.014          2.569          0              0              1.896
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Go forward, turn left and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn around, go forward, turn left | STEP 4: Slice the tomato on the counter | STEP 5: Put the knife on the counter | STEP 6: Pick up a slice of tomato from the counter | STEP 7: Turn around, go forward, turn left at the fridge | STEP 8: Put the slice of tomato in the fridge, wait, pick up the slice of tomato from the fridge | STEP 9: Turn left, go forward, turn right at the microwave | STEP 10: Put the tomato slice in the microwave | END