Task: put a cooked slice of tomato on 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           1.0            0.900          1.0            0              180            0
   1  Potato          -0.971         1.531          -0.110         0              90             0              72
   2  Potato          1.669          0.970          1.074          0              0              0              45
   3  DishSponge      1.550          0.944          1.798          0              180            0              67
   4  DishSponge      1.380          1.746          0.066          0              0              0              48
   5  Spatula         -0.861         0.761          0.982          0              270            0              63
   6  Spatula         -0.710         0.952          0.765          0              0              0              65
   7  Pot             -1.109         0.930          1.865          0              0              0              64
   8  Egg             -1.126         0.973          0.921          0              0              0              65
   9  Cup             1.418          0.099          0.171          0              0              0              50
  10  Cup             -0.844         0.080          2.385          0              0              0              61
  11  Plate           1.592          0.942          0.873          0              0              0              45
  12  Knife           1.787          0.959          1.673          0              90             0              45
  13  Knife           1.767          0.959          1.673          0              90             0              45
  14  Tomato          1.285          0.999          2.022          0              0              0              45
  15  Tomato          -1.211         0.999          2.234          0              0              0              40
  16  SoapBottle      1.423          1.071          0.274          0              0              0              46
  17  Mug             1.748          0.932          1.458          0              0              0              45
  18  Apple           -0.964         0.864          0.195          0              90             0              72
  19  Lettuce         -0.876         1.028          1.076          0              0              0              65
  20  SoapBottle      -1.211         0.937          2.386          0              0              0              40
  21  Bread           -0.923         0.990          2.265          0              302.470        0              40
  22  Fork            -0.689         0.747          1.050          0              270            0              63
  23  Tomato          -0.964         0.876          0.042          0              90             0              72
  24  Bowl            1.430          0.078          2.392          0              0              0              49
  25  Pot             -1.109         0.930          1.470          0              0              0              42
  26  Spatula         1.439          0.952          0.806          0              0              0              45
  27  Knife           -0.758         0.768          1.050          0              270            0              63
  28  SaltShaker      1.379          0.743          2.459          0              0              0              43
  29  Apple           1.423          0.119          2.912          0              0              0              78
  30  PepperShaker    1.706          1.500          0.872          0              0              0              47
  31  ButterKnife     1.456          0.944          1.756          0              180            0              67
  32  Potato          1.456          0.876          1.341          0              180            0              82
  33  Plate           1.382          0.105          0.373          0              0              0              50
  34  DishSponge      1.662          1.948          1.410          0              0              0              58
  35  Egg             1.409          0.979          1.840          0              180            0              67
  36  Cup             -0.899         0.564          -0.110         0              90             0              72
  37  Pan             -0.971         1.498          0.195          0              90             0              72
  38  Spoon           -0.827         0.747          2.313          0              180            0              41
  39  Mug             1.652          1.591          1.598          0              270            0              79
  40  CounterTop      -0.973         0.973          2.386          0              0              0
  41  Drawer          -0.783         0.774          2.381          0              180            0
  42  StoveBurner     -1.108         0.922          1.470          0              0              0
  43  Drawer          1.370          0.774          2.391          0              0              0
  44  Stool           -0.748         0.008          3.116          0              0              0
  45  CounterTop      1.504          0.973          2.309          0              0              0
  46  Cabinet         1.219          1.388          0.591          0              0              0
  47  Cabinet         1.500          2.113          1.164          0              0              0
  48  Cabinet         1.219          2.010          0.591          0              0              0
  49  Cabinet         1.219          0.388          2.105          0              0              0
  50  Cabinet         1.219          0.553          0.591          0              0              0
  51  Cabinet         -0.913         2.113          1.164          0              0              0
  52  Cabinet         -0.633         0.388          0.627          0              0              0
  53  Cabinet         -0.913         2.050          -0.329         0              0              0
  54  Cabinet         -0.913         2.113          0.583          0              0              0
  55  Cabinet         -0.913         2.113          2.082          0              0              0
  56  Cabinet         -0.913         2.113          1.207          0              0              0
  57  Cabinet         1.500          2.113          2.082          0              0              0
  58  Cabinet         1.500          2.113          1.207          0              0              0
  59  Cabinet         1.500          1.810          2.691          0              0              0
  60  Cabinet         1.500          1.810          2.101          0              0              0
  61  Cabinet         -0.633         0.388          2.105          0              0              0
  62  Cabinet         -0.911         1.810          2.700          0              180            0
  63  Drawer          -0.783         0.774          0.915          0              180            0
  64  StoveBurner     -1.108         0.922          1.865          0              0              0
  65  CounterTop      -0.972         0.973          0.921          0              0              0
  66  Cabinet         1.219          0.388          0.631          0              0              0
  67  Sink            1.544          0.869          1.639          0              180            0
  68  StoveBurner     -0.832         0.922          1.865          0              0              0
  69  StoveBurner     -0.831         0.922          1.470          0              0              0
  70  Drawer          1.370          0.774          0.916          0              0              0
  71  Cabinet         -0.911         1.810          2.111          0              180            0
  72  Fridge          -1.001         0.0            0.119          0              0              0
  73  StoveKnob       -0.648         0.926          1.923          0              270            0
  74  StoveKnob       -0.648         0.926          1.363          0              270            0
  75  StoveKnob       -0.648         0.926          1.513          0              270            0
  76  StoveKnob       -0.648         0.926          1.763          0              270            0
  77  Toaster         -1.002         0.926          2.561          0              90             0
  78  GarbageCan      1.451          -0.029         2.912          0              0              0
  79  Microwave       1.632          1.480          1.645          0              270            0
  80  Window          0.224          1.601          3.509          90             0              0
  81  CoffeeMachine   1.692          0.926          2.453          0              270            0
  82  SinkBasin       1.461          0.833          1.369          0              180            0
  83  LightSwitch     0.451          1.412          -1.674         0              0              0
  84  Faucet          1.707          0.925          1.363          0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: turn around and move forward, going passed the sink and turn to face the counter to the left of the sink in front of the tomato | STEP 2: pick up the butter knife with the silver handle that is behind the sharp knife with the yellow handle | STEP 3: stay in front of the tomato holding the knife | STEP 4: slice half of the tomato | STEP 5: turn to the right and move close to the sink and stand to face the sink | STEP 6: put the knife in the sink | STEP 7: turn to the left and turn back to face the slice tomato | STEP 8: remove a slice from the tomato | STEP 9: turn to the right and move back in front of the sink and facing the microwave above the sink | STEP 10: open the microwave door, put the tomato inside the microwave, close the door, cook for 3 seconds, open the door of the microwave door and remove the tomato | STEP 11: turn to the left and move to the counter to the left of the sink and turn to face the tomato on the counter | STEP 12: put the slice of tomato to the left of what is left of the sliced tomato | END