Task: Slice a tomato, cook a slice

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              270            0
   1  Pan             2.984          0.032          -0.323         0              90             0              75
   2  Potato          -0.922         1.484          -0.073         0              90             0              93
   3  ButterKnife     2.302          0.764          3.445          0              0              0              50
   4  ButterKnife     2.633          0.764          4.047          0              225            0              50
   5  Glassbottle     2.376          0.765          3.62           0              0              0              50
   6  Glassbottle     2.203          0.765          4.251          0              329.999        0              50
   7  Spatula         2.410          1.041          -1.774         0              90             0              49
   8  Cup             2.423          0.763          4.257          0              225            0              50
   9  Cup             -1.013         1.440          -0.406         0              90             0              93
  10  Plate           2.906          0.033          -1.074         0              0              0              91
  11  Tomato          2.710          0.818          4.229          0              225            0              50
  12  Tomato          2.649          1.080          1.252          0              136.999        0              49
  13  Tomato          2.359          0.818          4.129          0              329.999        0              50
  14  SoapBottle      2.228          0.763          3.795          0              0              0              50
  15  Bowl            2.788          1.025          1.102          0              136.999        0              49
  16  Bowl            1.926          0.762          3.821          0              270            0              50
  17  SaltShaker      2.451          0.760          3.747          0              270            0              50
  18  SaltShaker      2.268          0.760          3.892          0              225            0              50
  19  Lettuce         2.599          0.822          4.495          0              0              0              50
  20  Apple           2.100          0.814          3.895          0              270            0              50
  21  Pan             2.160          1.026          1.354          0              136.999        0              49
  22  Glassbottle     -0.906         1.782          1.247          0              0              0              83
  23  Knife           2.998          0.789          4.202          0              315            0              50
  24  SoapBottle      2.561          0.031          -0.169         0              0              0              75
  25  Egg             -1.079         0.121          2.748          0              0              0              104
  26  Fork            2.599          0.765          3.445          0              0              0              50
  27  Potato          -0.987         0.828          -0.627         0              90             0              93
  28  Ladle           2.800          0.803          4.118          0              270            0              50
  29  Tomato          2.790          1.080          -0.846         0              0              0              49
  30  Pot             1.836          1.027          -1.84          0              90             0              47
  31  WineBottle      2.662          0.765          3.455          0              329.999        0              50
  32  Plate           -0.714         0.825          1.337          0              90             0              106
  33  Spatula         2.451          0.779          3.97           0              225            0              50
  34  PaperTowelRoll  -1.045         1.131          1.943          0              0              0              52
  35  Lettuce         -0.947         0.844          -0.184         0              90             0              93
  36  Apple           3.043          1.077          -0.541         0              0              0              49
  37  SaltShaker      2.451          0.760          3.445          0              0              0              50
  38  PepperShaker    2.975          0.760          4.118          0              270            0              50
  39  ButterKnife     -0.660         0.800          2.007          0              0              0              54
  40  Bread           2.302          0.832          4.495          0              0              0              50
  41  Cup             2.243          0.763          3.657          0              225            0              50
  42  DishSponge      -0.577         0.816          1.181          0              90             0              106
  43  Bowl            2.733          0.033          0.267          0              0              0              76
  44  Spoon           -0.782         0.817          1.181          0              90             0              106
  45  Mug             -0.803         1.070          0.646          0              90             0              102
  46  Sink            -0.716         1.023          1.333          0              0              0
  47  StoveBurner     1.835          1.018          -1.840         0              90             0
  48  StoveBurner     2.177          1.018          -1.599         0              0              0
  49  CounterTop      2.812          0.992          0.675          0              0              0
  50  DiningTable     2.419          0.003          3.930          0              0              0
  51  Drawer          -0.643         0.828          0.616          0              0              0
  52  CounterTop      -0.813         1.062          2.188          0              0              0
  53  StoveBurner     2.115          1.018          -1.840         0              270            0
  54  Drawer          -0.643         0.831          1.953          0              0              0
  55  Drawer          -0.643         0.833          2.418          0              0              0
  56  Drawer          1.347          0.836          -1.539         0              0              0
  57  Drawer          2.693          0.833          -1.131         0              0              0
  58  Drawer          2.693          0.833          -0.699         0              0              0
  59  Drawer          2.693          0.833          -0.267         0              0              0
  60  Drawer          2.693          0.833          0.163          0              0              0
  61  Drawer          2.524          0.833          0.720          0              2.000          0
  62  Drawer          2.232          0.833          1.036          0              2.000          0
  63  Drawer          1.936          0.833          1.354          0              2.000          0
  64  Drawer          1.646          0.833          1.670          0              2.000          0
  65  Cabinet         1.504          2.475          -1.710         0              0              0
  66  Cabinet         -0.823         2.220          1.621          0              0              0
  67  Cabinet         -0.823         2.220          0.615          0              0              0
  68  Cabinet         1.136          0.388          -1.355         0              0              0
  69  Cabinet         -0.356         0.383          2.626          0              0              0
  70  Cabinet         2.745          2.220          -1.690         0              0              0
  71  Cabinet         1.882          0.383          1.017          0              0              0
  72  Cabinet         1.307          0.473          1.640          0              0              0
  73  Cabinet         1.892          0.383          1.006          0              0              0
  74  Cabinet         2.467          0.383          0.383          0              0              0
  75  Cabinet         2.466          0.383          -0.475         0              0              0
  76  Cabinet         2.466          0.473          0.371          0              0              0
  77  Cabinet         2.386          2.475          -1.710         0              0              0
  78  Cabinet         -0.356         0.383          1.712          0              0              0
  79  Cabinet         2.745          2.220          0.019          0              0              0
  80  Cabinet         -0.663         2.496          0.157          0              0              0
  81  Cabinet         -0.663         2.496          -0.868         0              0              0
  82  Cabinet         -0.356         0.383          0.269          0              0              0
  83  Cabinet         -0.823         2.220          1.603          0              0              0
  84  Cabinet         -0.662         2.234          0.586          0              0              0
  85  Cabinet         2.745          2.220          -0.843         0              0              0
  86  Cabinet         2.745          2.220          -0.827         0              0              0
  87  Cabinet         -0.823         2.220          2.608          0              0              0
  88  Cabinet         2.732          2.226          -1.709         0              0              0
  89  Cabinet         1.137          2.226          -1.709         0              0              0
  90  Cabinet         2.466          0.383          -0.491         0              0              0
  91  Cabinet         2.466          0.383          -1.339         0              0              0
  92  StoveBurner     1.761          1.018          -1.599         0              0              0
  93  Fridge          -0.908         0.0            -0.405         0              0              0
  94  HousePlant      2.517          1.016          1.822          0              0              0
  95  Microwave       1.939          1.745          -1.826         0              0              0
  96  StoveKnob       2.017          1.041          -1.514         0              180            180
  97  StoveKnob       1.934          1.041          -1.514         0              180            180
  98  StoveKnob       2.017          1.041          -1.589         0              180            180
  99  StoveKnob       1.934          1.041          -1.589         0              180            180
 100  Window          1.756          1.608          4.762          90             0              0
 101  HousePlant      2.171          1.004          2.091          0              0              0
 102  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 103  LightSwitch     -0.099         1.410          -2.066         0              0              0
 104  GarbageCan      -0.951         -0.029         2.826          0              0              0
 105  Toaster         -1.007         1.018          2.238          0              90             0
 106  SinkBasin       -0.714         0.805          1.348          0              90             0
 107  Chair           1.615          0.004          4.310          0              107.976        0
 108  Faucet          -1.120         1.013          1.334          0              90             0
 109  Chair           2.759          0.004          3.086          0              358.967        0
 110
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Turn right, go forward, turn left, go forward, turn left at the table | STEP 2: Pick up the knife on the table | STEP 3: Move a bit to the left | STEP 4: Slice the tomato on the table | STEP 5: Turn left, go to the basket on the floor | STEP 6: Put the knife in the basket | STEP 7: Turn left, go to the table, turn right | STEP 8: Pick up a tomato slice from the table | STEP 9: Turn right, go forward, turn left, go forward, turn right and go to the stove | 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, go forward, turn left and go to the basket | STEP 12: Put the tomato slice in the basket | END