Task: put a cooked tomato slice on to the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.75           0.900          0.5            0              0              0
   1  Pan             0.974          0.957          -1.419         0              180            0              77
   2  Potato          1.724          0.946          -1.255         0              0              0              79
   3  Potato          -0.149         0.425          2.025          0              180            0              84
   4  DishSponge      3.793          0.552          1.449          0              270            0              82
   5  Kettle          -1.516         0.913          0.037          0              0              0              59
   6  WineBottle      -1.331         1.658          -1.784         0              0              0              72
   7  WineBottle      -1.160         0.913          -1.267         0              0              0              59
   8  Pot             0.974          0.957          -1.688         0              180            0              58
   9  Fork            -2.659         0.875          3.390          0              90             0              61
  10  Fork            -2.606         0.875          3.274          0              135            0              61
  11  Spoon           -1.961         0.913          -0.288         0              0              0              59
  12  Spoon           1.760          0.911          -1.709         0              90             0              79
  13  Cup             -2.436         0.873          2.715          0              0              0              61
  14  Cup             -0.263         0.387          2.054          0              180            0              84
  15  Knife           -2.072         0.934          -1.591         0              0              0              59
  16  Tomato          -0.871         0.240          2.058          0              90             0              89
  17  Tomato          -0.377         1.191          2.246          0              180            0              84
  18  SaltShaker      3.662          0.877          1.861          0              270            0              80
  19  SaltShaker      1.584          0.111          -1.301         0              0              0              65
  20  PepperShaker    0.321          0.110          -1.451         0              0              0              67
  21  PepperShaker    3.689          0.877          1.759          0              270            0              80
  22  Bread           -2.592         0.958          3.049          0              135            0              61
  23  Lettuce         -2.912         0.943          2.758          0              225            0              61
  24  Lettuce         -3.055         0.939          3.140          0              225            0              61
  25  Mug             -1.112         0.958          -1.479         0              0              0              96
  26  Apple           -0.035         1.627          2.100          0              180            0              84
  27  Book            -2.183         0.908          -0.939         0              0              0              59
  28  Fork            -2.152         0.879          3.221          0              270            0              61
  29  Tomato          -1.961         0.959          -0.939         0              0              0              59
  30  Egg             -0.035         0.414          2.054          0              180            0              84
  31  Kettle          -2.183         0.913          -0.288         0              270            0              59
  32  Vase            -1.516         0.913          -1.265         0              0              0              59
  33  Cup             1.578          0.908          -1.346         0              0              0              79
  34  WineBottle      -2.088         0.120          -1.580         0              0              0              60
  35  Plate           0.307          1.148          2.206          0              180            0              84
  36  Spatula         0.234          0.945          -1.646         0              90             0              56
  37  Potato          -0.923         0.229          2.213          0              90             0              89
  38  Pot             1.328          0.957          -1.688         0              180            0              62
  39  Knife           -2.950         0.896          3.035          0              45             0              61
  40  SaltShaker      -2.881         0.874          3.053          0              0              0              61
  41  PepperShaker    -1.982         0.714          -1.579         0              0              0              78
  42  Lettuce         -2.525         0.939          3.565          0              225            0              61
  43  ButterKnife     -3.017         0.878          3.580          0              135            0              61
  44  Bread           -2.152         0.961          3.073          0              270            0              61
  45  Vase            -2.183         0.913          -1.265         0              0              0              59
  46  DishSponge      1.614          0.909          -1.437         0              0              0              79
  47  Apple           -2.152         0.929          3.296          0              270            0              61
  48  Pan             1.328          0.957          -1.420         0              180            0              63
  49  Spoon           -0.833         0.913          -1.471         0              0              0              59
  50  SoapBottle      0.069          0.929          -1.501         0              270            0              56
  51  Mug             -0.292         0.692          -1.678         0              0              0              88
  52  Statue          3.676          0.168          1.410          0              334.521        0              82
  53  Statue          0.709          0.910          -1.674         0              270            0              59
  54  Bowl            0.193          1.570          2.160          0              180            0              84
  55  Cabinet         -2.171         2.009          -1.538         0              0              0
  56  Sink            0.024          0.771          -1.708         0              270            0
  57  Cabinet         1.444          2.259          -1.542         0              0              0
  58  StoveBurner     0.974          0.957          -1.688         0              180            0
  59  CounterTop      -1.866         0.947          -0.614         0              0              0
  60  Cabinet         -2.217         0.373          -1.874         0              0              0
  61  DiningTable     -2.663         0.002          3.208          0              0              0
  62  StoveBurner     1.328          0.957          -1.688         0              180            0
  63  StoveBurner     1.328          0.957          -1.420         0              180            0
  64  Cabinet         -1.478         0.373          -1.235         0              0              0
  65  Cabinet         1.775          0.372          -1.242         0              0              0
  66  Cabinet         0.774          0.372          -1.242         0              0              0
  67  Cabinet         0.375          0.372          -1.242         0              0              0
  68  Cabinet         -0.574         0.372          -1.238         0              0              0
  69  Cabinet         1.775          2.009          -1.542         0              0              0
  70  Cabinet         0.524          2.009          -1.542         0              0              0
  71  Cabinet         -0.714         2.009          -1.542         0              0              0
  72  Cabinet         -1.671         2.009          -1.538         0              0              0
  73  Cabinet         0.854          2.259          -1.542         0              0              0
  74  Drawer          -1.636         0.683          -0.930         0              0              0
  75  Drawer          1.650          0.682          -1.396         0              0              0
  76  Drawer          0.600          0.682          -1.396         0              0              0
  77  StoveBurner     0.974          0.957          -1.419         0              180            0
  78  Drawer          -2.062         0.683          -1.579         0              0              0
  79  CounterTop      1.645          0.945          -1.527         0              0              0
  80  Shelf           3.725          0.880          1.671          0              90             0
  81  LightSwitch     2.830          1.266          -0.748         0              0              0
  82  Shelf           3.726          0.552          1.671          0              90             0
  83  Microwave       1.150          1.655          -1.614         0              0              0
  84  Fridge          -0.035         0.0            2.177          0              180            0
  85  Window          -0.115         1.802          -1.896         90             0              0
  86  Window          -4.009         1.799          0.310          90             90             0
  87  Shelf           3.726          0.172          1.671          0              90             0
  88  SinkBasin       -0.330         0.686          -1.581         0              270            0
  89  GarbageCan      -0.870         -0.001         2.136          0              90             0
  90  StoveKnob       1.089          0.913          -1.243         45             0              0
  91  StoveKnob       1.208          0.913          -1.243         45             0              0
  92  StoveKnob       1.340          0.913          -1.243         45             0              0
  93  StoveKnob       0.961          0.913          -1.243         45             0              0
  94  Toaster         1.637          0.900          -1.673         0              0              0
  95  Chair           -3.505         0.002          3.290          0              105.736        0
  96  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  97  HousePlant      -2.663         0.835          3.209          0              0              0
  98  Faucet          -0.187         0.922          -1.75          0              311.166        0
  99  ShelvingUnit    3.726          0.006          1.671          0              90             0
 100  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 101  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 102  Chair           -2.934         0.002          2.437          0              28.531         0
 103  Chair           -1.698         0.002          3.235          0              245.204        0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: turn to the left and move forward all the way across the room, turn left at the window and move towards the door, turning to the left at the door to face the counter top | STEP 2: pick up the sharp knife with the yellow handle from the counter | STEP 3: move to the left a few steps to face the counter in front of the tomato | STEP 4: slice the tomato that is on the counter with the knife | STEP 5: put the knife on the counter | STEP 6: pick up the end slice of the tomato from the counter | STEP 7: turn to the left to move to the end of the counter and make a right, move forward passed the fridge on the left and turn right and move forward to the stove | STEP 8: open the door of the microwave that is above the stove, put the tomato slice in to the microwave,  cook the slice for 3 seconds, open the door and remove the tomato slice | STEP 9: move slightly to the left to face the small counter to the left of the stove | STEP 10: put the tomato slice on to the counter to the right of the potato | END