Task: Put the heated slice tomato on the edge of the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          -0.5           0              270            0
   1  Potato          -0.427         0.100          0.439          0              90             0              75
   2  Potato          -2.135         1.081          -1.763         0              0              0              76
   3  DishSponge      0.908          0.919          -1.848         0              270            0              44
   4  DishSponge      0.564          0.911          0.292          0              0              0              45
   5  Pot             1.007          0.962          0.561          0              270            0              48
   6  Spoon           0.035          0.913          0.209          0              0              0              45
   7  Spatula         1.412          0.927          -1.654         0              0              0              46
   8  Cup             0.856          0.917          -1.449         0              270            0              44
   9  Plate           1.781          0.913          -1.820         0              0              0              46
  10  Plate           -0.538         0.111          -1.508         0              0              0              60
  11  Knife           1.724          0.937          0.292          0              90             0              61
  12  SoapBottle      0.649          0.918          -1.715         0              270            0              44
  13  SaltShaker      -2.065         0.948          0.255          0              90             0              79
  14  PepperShaker    1.663          0.908          0.375          0              0              0              61
  15  Lettuce         -1.791         1.042          0.614          0              90             0              79
  16  Mug             -2.203         0.947          0.704          0              90             0              79
  17  Bread           1.846          0.995          0.375          0              0              0              61
  18  Knife           0.167          0.937          0.458          0              0              0              45
  19  Fork            0.377          0.783          -1.648         0              270            0              69
  20  Bowl            -1.959         1.492          -1.763         0              0              0              76
  21  Kettle          0.856          0.920          -1.649         0              270            0              44
  22  Cup             -1.959         0.779          -1.720         0              0              0              76
  23  Tomato          -0.544         0.961          -1.903         0              0              0              46
  24  SoapBottle      -0.544         0.910          -1.654         0              0              0              46
  25  Plate           1.658          0.913          -1.489         0              0              0              46
  26  Pot             1.361          0.962          0.561          0              270            0              51
  27  Spatula         -2.477         0.967          0.435          0              180            0              79
  28  PaperTowelRoll  -2.065         1.056          0.345          0              90             0              79
  29  Egg             -0.296         0.105          0.482          0              90             0              75
  30  Lettuce         -2.065         1.042          0.524          0              90             0              79
  31  SaltShaker      -0.096         0.908          0.292          0              0              0              45
  32  PepperShaker    -0.343         1.325          -1.772         0              180            0              40
  33  Apple           -2.222         0.847          -1.806         0              0              0              76
  34  ButterKnife     -0.175         0.912          -1.820         0              0              0              46
  35  Potato          0.300          0.942          0.209          0              0              0              45
  36  Pan             -2.31          0.510          -1.763         0              270            0              76
  37  DishSponge      -0.329         0.069          0.612          0              90             0              75
  38  Spoon           -2.203         0.953          0.345          0              90             0              79
  39  Mug             -1.928         0.947          0.255          0              90             0              79
  40  Cabinet         -0.193         1.688          -1.648         0              180            0
  41  StoveBurner     1.360          0.957          0.293          0              180            0
  42  Drawer          0.499          0.792          0.296          0              0              0
  43  Cabinet         0.095          0.400          -1.352         0              180            0
  44  Sink            0.711          0.817          -1.772         0              270            0
  45  CounterTop      0.280          0.947          0.458          0              0              0
  46  CounterTop      -0.680         0.947          -1.654         0              0              0
  47  Drawer          1.825          0.792          0.296          0              0              0
  48  StoveBurner     1.007          0.957          0.561          0              270            0
  49  Drawer          -0.150         0.792          -1.496         0              0              0
  50  Drawer          -0.586         0.792          -1.496         0              0              0
  51  StoveBurner     1.360          0.957          0.561          0              270            0
  52  Drawer          0.024          0.792          0.296          0              0              0
  53  Cabinet         1.079          0.400          -1.349         0              180            0
  54  Cabinet         1.669          0.402          0.151          0              0              0
  55  Cabinet         0.055          0.402          -1.351         0              0              0
  56  Cabinet         -0.180         0.402          0.151          0              0              0
  57  Cabinet         0.729          0.402          0.151          0              0              0
  58  StoveBurner     1.007          0.957          0.293          0              180            0
  59  Drawer          -1.100         0.792          -1.496         0              0              0
  60  Cabinet         -0.396         0.402          -1.351         0              0              0
  61  CounterTop      1.776          0.947          0.458          0              0              0
  62  Cabinet         1.974          1.688          -1.648         0              180            0
  63  Cabinet         -0.820         0.400          -1.349         0              180            0
  64  Toaster         0.305          0.900          0.552          0              180            0
  65  LightSwitch     -2.756         1.307          -0.987         0              90             0
  66  Window          0.582          1.613          -1.967         90             0              0
  67  Window          1.969          1.5            -0.615         90             270            0
  68  Microwave       -1.037         0.900          -1.723         0              0              0
  69  SinkBasin       0.377          0.765          -1.655         0              270            0
  70  CoffeeMachine   0.618          0.900          0.600          0              180            0
  71  StoveKnob       1.246          0.913          0.118          45             180            0
  72  StoveKnob       1.373          0.913          0.118          45             180            0
  73  StoveKnob       0.995          0.913          0.118          45             180            0
  74  StoveKnob       1.126          0.913          0.118          45             180            0
  75  GarbageCan      -0.368         -0.029         0.539          0              90             0
  76  Fridge          -2.134         0.0            -1.690         0              0              0
  77  Faucet          0.549          1.046          -1.833         0              232.527        0
  78  Stool           -1.475         0.000          0.414          1.233          280.375        0
  79  DiningTable     -2.255         -0.004         0.432          0              0              0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn right then then to the counter on the right  | STEP 2: Pick up the knife on the counter | STEP 3: Turn left head to the counter with tomato beside the microwave | STEP 4: Slice the tomato on the counter | STEP 5: Turn right then face the microwave | STEP 6: Open the microwave put in the knife then close the microwave | STEP 7: Turn left then face the tomato on the counter | STEP 8: Pick up a slice tomato  | STEP 9: Turn right then face the microwave | STEP 10: Open the microwave put in and out the slice tomato then close the microwave  | STEP 11: Turn right then head to the table | STEP 12: Put the slice tomato on the edge of the table | END