Task: Slice a tomato, cool a slice, put 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           0.5            0.900          2.25           0              180            0
   1  DishSponge      1.344          0.746          0.848          0              0              0              63
   2  DishSponge      -0.793         0.937          1.076          0              0              0              58
   3  Fork            -0.689         0.747          2.517          0              270            0              34
   4  Fork            -0.689         0.747          0.914          0              270            0              56
   5  Knife           -0.758         0.768          0.779          0              90             0              56
   6  PepperShaker    1.310          0.743          1.120          0              0              0              63
   7  PepperShaker    1.469          0.078          0.777          0              0              0              59
   8  Lettuce         -1.126         1.028          1.076          0              0              0              58
   9  Mug             1.528          1.002          2.345          0              270            0              38
  10  Apple           1.523          0.119          2.879          0              0              0              71
  11  Apple           -0.988         0.864          -0.034         0              90             0              65
  12  Lettuce         1.456          1.014          1.681          3.862          59.981         0              60
  13  SoapBottle      -0.710         0.937          0.921          0              0              0              58
  14  Bread           -0.923         0.990          2.265          0              302.470        0              33
  15  Fork            1.483          0.747          1.052          0              270            0              63
  16  Tomato          -1.211         0.999          2.234          0              0              0              33
  17  Bowl            1.430          0.078          2.251          0              0              0              42
  18  Pot             -1.109         0.930          1.865          0              0              0              57
  19  Spatula         -0.793         0.952          0.687          0              0              0              58
  20  Knife           1.448          0.768          0.780          0              90             0              63
  21  SaltShaker      -0.758         0.742          2.313          0              180            0              34
  22  Apple           1.587          1.645          1.808          0              270            0              72
  23  PepperShaker    -0.792         0.743          2.245          0              180            0              34
  24  ButterKnife     -0.960         0.937          1.076          0              0              0              58
  25  Potato          1.456          0.876          1.341          0              180            0              75
  26  Plate           1.391          0.086          0.988          0              0              0              59
  27  DishSponge      -1.153         1.827          0.356          0              0              0              47
  28  Egg             1.684          1.631          1.598          0              270            0              72
  29  Cup             1.586          1.502          1.058          0              0              0              40
  30  Pan             -1.109         0.930          1.470          0              0              0              35
  31  Spoon           1.409          0.945          1.840          0              0              0              60
  32  Mug             -0.971         1.494          0.195          0              90             0              65
  33  CounterTop      -0.973         0.973          2.386          0              0              0
  34  Drawer          -0.783         0.774          2.381          0              180            0
  35  StoveBurner     -1.108         0.922          1.470          0              0              0
  36  Drawer          1.370          0.774          2.391          0              0              0
  37  Stool           -0.748         0.008          3.116          0              0              0
  38  CounterTop      1.504          0.973          2.309          0              0              0
  39  Cabinet         1.219          1.388          0.591          0              0              0
  40  Cabinet         1.500          2.113          1.164          0              0              0
  41  Cabinet         1.219          2.010          0.591          0              0              0
  42  Cabinet         1.219          0.388          2.105          0              0              0
  43  Cabinet         1.219          0.553          0.591          0              0              0
  44  Cabinet         -0.913         2.113          1.164          0              0              0
  45  Cabinet         -0.633         0.388          0.627          0              0              0
  46  Cabinet         -0.913         2.050          -0.329         0              0              0
  47  Cabinet         -0.913         2.113          0.583          0              0              0
  48  Cabinet         -0.913         2.113          2.082          0              0              0
  49  Cabinet         -0.913         2.113          1.207          0              0              0
  50  Cabinet         1.500          2.113          2.082          0              0              0
  51  Cabinet         1.500          2.113          1.207          0              0              0
  52  Cabinet         1.500          1.810          2.691          0              0              0
  53  Cabinet         1.500          1.810          2.101          0              0              0
  54  Cabinet         -0.633         0.388          2.105          0              0              0
  55  Cabinet         -0.911         1.810          2.700          0              180            0
  56  Drawer          -0.783         0.774          0.915          0              180            0
  57  StoveBurner     -1.108         0.922          1.865          0              0              0
  58  CounterTop      -0.972         0.973          0.921          0              0              0
  59  Cabinet         1.219          0.388          0.631          0              0              0
  60  Sink            1.544          0.869          1.639          0              180            0
  61  StoveBurner     -0.832         0.922          1.865          0              0              0
  62  StoveBurner     -0.831         0.922          1.470          0              0              0
  63  Drawer          1.370          0.774          0.916          0              0              0
  64  Cabinet         -0.911         1.810          2.111          0              180            0
  65  Fridge          -1.001         0.0            0.119          0              0              0
  66  StoveKnob       -0.648         0.926          1.923          0              270            0
  67  StoveKnob       -0.648         0.926          1.363          0              270            0
  68  StoveKnob       -0.648         0.926          1.513          0              270            0
  69  StoveKnob       -0.648         0.926          1.763          0              270            0
  70  Toaster         -1.002         0.926          2.561          0              90             0
  71  GarbageCan      1.451          -0.029         2.912          0              0              0
  72  Microwave       1.632          1.480          1.645          0              270            0
  73  Window          0.224          1.601          3.509          90             0              0
  74  CoffeeMachine   1.692          0.926          2.453          0              270            0
  75  SinkBasin       1.461          0.833          1.369          0              180            0
  76  LightSwitch     0.451          1.412          -1.674         0              0              0
  77  Faucet          1.707          0.925          1.363          0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Go forward, turn right after the stove | STEP 2: Pick up the knife on the counter | STEP 3: Turn right, go forward, turn left after the stove | STEP 4: Slice the tomato on the counter | STEP 5: Turn down to the counter | STEP 6: Put the knife on the counter | STEP 7: Turn up to the counter | STEP 8: Pick up a tomato slice from the counter | STEP 9: Turn left, go forward, turn right at the fridge | STEP 10: Put the tomato slice in the microwave, start the microwave, wait, pick up the tomato slice from the microwave | STEP 11: Turn right, go forward, turn right and go to the microwave | STEP 12: Put the tomato slice in the microwave | END