Task: pick up knife to cut tomato, cook tomato, put into fridge

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          5.25           0              180            0
   1  Potato          -0.312         0.794          6.479          0              270            0              91
   2  ButterKnife     0.847          0.992          0.395          0              0              0              55
   3  Kettle          -0.621         0.761          6.541          0              270            0              91
   4  Spoon           -0.611         0.993          0.120          0              0              0              55
   5  Spoon           -0.034         0.761          6.478          0              0              0              91
   6  Spatula         1.276          0.906          2.474          0              180            0              78
   7  Fork            1.236          0.772          3.429          0              0              0              48
   8  Fork            -0.158         0.760          6.604          0              270            0              91
   9  Cup             1.079          1.575          0.163          0              0              0              62
  10  Cup             1.238          0.136          1.790          0              0              0              44
  11  Plate           0.124          0.144          0.429          0              0              0              64
  12  Plate           -0.552         0.144          0.429          0              0              0              63
  13  SoapBottle      1.582          0.992          0.213          0              0              0              55
  14  PepperShaker    1.582          0.987          3.511          0              0              0              55
  15  PepperShaker    1.406          0.135          2.572          0              0              0              67
  16  SaltShaker      0.332          0.139          0.582          0              0              0              64
  17  SaltShaker      -0.312         0.755          6.666          0              270            0              91
  18  Mug             0.221          1.092          0.310          0              270            0              71
  19  Apple           1.135          1.067          4.808          0              0              0              56
  20  Bowl            1.493          0.991          3.231          0              0              0              55
  21  Bread           0.015          0.829          6.742          0              225            0              91
  22  Egg             1.387          0.941          2.627          0              90             0              78
  23  Knife           1.493          1.022          3.511          0              0              0              55
  24  Fork            -0.459         0.993          0.303          0              0              0              55
  25  Apple           -0.289         0.834          6.786          0              135            0              91
  26  Kettle          1.317          0.988          4.294          0              0              0              50
  27  Plate           0.305          0.760          6.416          0              270            0              91
  28  SaltShaker      -0.575         0.755          6.719          0              135            0              91
  29  Lettuce         1.314          1.081          0.213          0              0              0              55
  30  SoapBottle      -0.074         1.579          0.163          0              0              0              68
  31  Spatula         0.803          0.787          0.507          0              0              0              47
  32  PaperTowelRoll  0.771          1.096          0.486          0              0              0              55
  33  Pot             1.559          0.988          4.294          0              0              0              53
  34  Potato          1.907          0.115          6.439          0              0              0              79
  35  ButterKnife     -0.486         0.760          6.151          0              225            0              91
  36  PepperShaker    0.167          0.755          6.151          0              135            0              91
  37  Pan             1.562          0.988          3.848          0              0              0              49
  38  Tomato          0.102          0.809          6.305          0              135            0              91
  39  DishSponge      0.260          0.771          0.396          0              0              0              52
  40  Cup             2.137          1.511          5.751          0              270            0              77
  41  Spoon           -0.034         0.761          6.169          0              0              0              91
  42  Mug             1.384          1.043          0.847          0              270            0              55
  43  Cabinet         1.307          2.455          4.360          0              0              0
  44  Cabinet         1.054          0.422          1.710          0              0              0
  45  Drawer          1.280          0.808          4.718          0              0              0
  46  Cabinet         1.307          2.455          3.607          0              0              0
  47  Drawer          0.736          0.802          0.521          0              0              0
  48  Drawer          1.276          0.802          3.291          0              0              0
  49  StoveBurner     1.562          0.982          3.848          0              0              0
  50  StoveBurner     1.317          0.982          4.294          0              0              0
  51  Drawer          -0.482         0.802          0.521          0              0              0
  52  Drawer          0.124          0.802          0.521          0              0              0
  53  StoveBurner     1.559          0.982          4.294          0              0              0
  54  StoveBurner     1.320          0.982          3.848          0              0              0
  55  CounterTop      1.391          1.028          0.897          0              0              0
  56  CounterTop      1.391          1.028          4.716          0              0              0
  57  Cabinet         1.054          0.422          4.548          0              0              0
  58  Cabinet         1.317          2.134          0.517          0              0              0
  59  Cabinet         1.317          2.134          4.889          0              0              0
  60  Cabinet         1.317          2.134          3.095          0              0              0
  61  Cabinet         0.443          0.422          0.743          0              0              0
  62  Cabinet         1.270          2.134          0.434          0              0              0
  63  Cabinet         -0.775         0.422          0.743          0              0              0
  64  Cabinet         -0.168         0.422          0.743          0              0              0
  65  Cabinet         1.317          2.134          1.534          0              0              0
  66  Cabinet         1.054          0.422          2.990          0              0              0
  67  Cabinet         1.054          0.422          2.944          0              0              0
  68  Cabinet         -0.263         2.134          0.434          0              0              0
  69  Cabinet         0.252          2.134          0.434          0              0              0
  70  Sink            1.391          1.006          2.326          0              0              0
  71  Microwave       0.108          0.981          0.262          0              0              0
  72  HousePlant      -0.165         0.826          6.444          0              0              0
  73  CoffeeMachine   1.551          0.982          0.953          0              270            0
  74  Toaster         1.473          0.981          4.715          0              270            0
  75  Window          -2.065         1.916          3.626          90             90             0
  76  Window          1.763          2.007          2.299          90             270            0
  77  Fridge          2.035          0.0            5.625          0              0              0
  78  SinkBasin       1.387          0.880          2.338          0              90             0
  79  GarbageCan      2.001          -0.044         6.503          0              0              0
  80  StoveKnob       1.140          0.934          3.987          45             270            0
  81  StoveKnob       1.140          0.934          4.309          45             270            0
  82  StoveKnob       1.140          0.934          4.140          45             270            0
  83  StoveKnob       1.140          0.934          3.824          45             270            0
  84  Vase            -0.226         0.834          6.993          0              0              0
  85  Vase            2.098          0.043          7.070          0              257.232        0
  86  Vase            -0.594         0.835          6.130          0              225            0
  87  LightSwitch     -2.0           1.549          6.045          0              90             0
  88  Safe            2.046          1.072          7.054          0              257.232        0
  89  Faucet          1.534          1.025          2.371          0              294.391        0
  90  Blinds          1.738          2.563          2.312          0              90             0
  91  DiningTable     -0.156         0.000          6.474          0              0              0
  92  Chair           0.291          0.002          6.142          0              310.162        0
  93  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: turn left, turn right to the counter | STEP 2: pick up knife from counter | STEP 3: turn around, walk to the table | STEP 4: slice into tomato on table | STEP 5: place knife down on table  | STEP 6: pick up tomato slice from table  | STEP 7: turn around and walk to the microwave | STEP 8: open microwave, put slice into microwave, cook, open door and remove tomato  | STEP 9: turn around and walk to the fridge  | STEP 10: open fridge door and put tomato slice into fridge  | END