Task: put a heated slice of a 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           -2.75          0.900          1.75           0              180            0
   1  Pan             0.193          1.571          2.160          0              180            0              84
   2  Potato          -0.263         0.839          2.080          0              180            0              84
   3  Potato          -2.152         0.911          3.147          0              270            0              61
   4  DishSponge      1.301          2.155          -1.638         0              0              0              57
   5  ButterKnife     -1.738         0.912          -0.939         0              0              0              59
   6  ButterKnife     -2.845         0.874          2.930          0              225            0              61
   7  WineBottle      -3.165         0.879          3.370          0              270            0              61
   8  Spatula         -2.321         0.893          2.999          0              0              0              61
   9  Pot             1.328          0.957          -1.688         0              180            0              62
  10  Spoon           -1.849         0.913          -0.288         0              0              0              59
  11  Spoon           -2.807         0.879          2.715          0              0              0              61
  12  Cup             0.289          0.927          -1.573         0              270            0              56
  13  Plate           0.193          0.807          2.080          0              180            0              84
  14  Knife           -2.733         0.900          3.559          0              0              0              61
  15  SoapBottle      0.150          0.114          -1.379         0              0              0              67
  16  Tomato          -0.871         0.240          2.097          0              90             0              89
  17  Bowl            -3.002         0.876          3.088          0              225            0              61
  18  Bowl            3.689          0.551          1.449          0              270            0              82
  19  SaltShaker      -3.069         0.874          2.916          0              225            0              61
  20  PepperShaker    3.634          0.877          1.656          0              270            0              80
  21  Bread           -2.405         0.961          2.758          0              135            0              61
  22  Bread           -3.017         0.958          3.580          0              135            0              61
  23  Lettuce         -2.183         0.977          -1.591         0              0              0              59
  24  Lettuce         -2.539         0.943          3.102          0              135            0              61
  25  Apple           -0.367         0.752          -1.468         0              270            0              88
  26  Apple           0.079          1.199          2.246          0              180            0              84
  27  Book            -1.627         0.908          -0.288         0              90             0              59
  28  Fork            -0.942         0.912          -1.674         0              90             0              59
  29  Tomato          -2.143         0.922          3.422          0              225            0              61
  30  Egg             0.193          0.414          1.967          0              180            0              84
  31  Kettle          -2.510         0.875          3.728          0              0              0              61
  32  Vase            -2.733         0.875          3.728          0              0              0              61
  33  Cup             0.069          0.927          -1.356         0              270            0              56
  34  WineBottle      3.662          0.881          1.963          0              270            0              80
  35  Plate           -0.723         0.916          -1.369         0              0              0              59
  36  Spatula         -2.114         0.733          -1.510         0              270            0              78
  37  Potato          0.014          0.967          -1.646         0              270            0              56
  38  Pot             -0.263         1.574          2.040          0              180            0              84
  39  Knife           -0.040         0.950          -1.646         0              270            0              56
  40  SaltShaker      -0.723         0.908          -1.572         0              0              0              59
  41  PepperShaker    -2.621         0.874          3.498          0              135            0              61
  42  Lettuce         -2.740         0.943          2.825          0              225            0              61
  43  ButterKnife     -2.584         0.878          2.884          0              0              0              61
  44  Bread           -2.321         0.961          3.221          0              270            0              61
  45  Vase            -0.348         0.122          -1.373         0              0              0              68
  46  DishSponge      -2.659         0.878          3.370          0              270            0              61
  47  Apple           0.307          0.444          1.996          0              180            0              84
  48  Pan             0.972          0.959          -1.426         0              0              0              77
  49  Spoon           -0.040         0.929          -1.429         0              270            0              56
  50  SoapBottle      -2.472         0.875          3.513          0              225            0              61
  51  Mug             -1.112         0.958          -1.479         0              0              0              96
  52  Statue          3.637          0.560          1.656          0              270            0              82
  53  Statue          -1.738         0.910          0.363          0              0              0              59
  54  Bowl            0.663          0.910          -1.674         0              0              0              59
  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 go forward towards the sink | STEP 2: pick up the knife from the sink | STEP 3: turn to the right go right go left towards the brown table | STEP 4: slice the tomato that is on the table | STEP 5: turn the right go right turn to the right towards the counter | STEP 6: put the knife on the counter | STEP 7: turn to the right go right go left turn to the right towards the brown table | STEP 8: pick up a slice of tomato | STEP 9: turn to the right go right turn to the left go right towards the microwave | STEP 10: put the slice of tomato inside the microwave heat it up | STEP 11: get it back out turn to the left | STEP 12: put it on top of the counter | END