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           -1.75          0.900          2.25           0              0              0
   1  Potato          -1.773         0.066          1.288          0              270            0              78
   2  Potato          2.073          0.935          1.107          0              0              0              64
   3  CellPhone       1.769          0.118          0.527          0              270            0              56
   4  CellPhone       1.658          0.119          0.672          0              270            0              56
   5  DishSponge      0.305          0.112          -1.471         0              0              0              53
   6  DishSponge      -1.814         0.911          -0.914         0              0              0              64
   7  Spoon           0.000          0.926          -0.190         0              0              0              72
   8  Spoon           0.000          0.926          0.273          0              0              0              72
   9  Pot             1.975          0.938          0.819          0              180            0              74
  10  Pot             -0.305         0.118          -1.347         0              0              0              43
  11  Plate           0.107          0.924          0.506          0              0              0              72
  12  Plate           0.107          0.924          1.202          0              0              0              72
  13  Knife           -0.106         0.947          0.970          0              0              0              72
  14  Bowl            1.956          1.004          -0.808         0              270            0              85
  15  SaltShaker      -0.213         0.921          0.970          0              0              0              72
  16  SaltShaker      1.273          0.105          -1.479         0              0              0              57
  17  PepperShaker    -0.106         0.921          0.506          0              0              0              72
  18  Lettuce         -0.320         1.002          0.738          0              0              0              72
  19  SoapBottle      0.321          0.929          0.273          0              0              0              72
  20  Cup             1.587          1.677          -1.539         0              0              0              63
  21  Pot             1.975          0.938          0.384          0              180            0              50
  22  Fork            -0.213         0.926          1.202          0              90             0              72
  23  Ladle           -0.106         0.969          0.738          0              0              0              72
  24  Kettle          -0.175         0.761          -1.435         0              0              0              88
  25  Egg             0.321          0.982          0.970          0              0              0              72
  26  Plate           -1.244         0.112          -1.487         0              0              0              76
  27  Pan             -1.286         0.9            -1.348         0              79.769         0              64
  28  Lettuce         0.170          0.837          -1.380         0              0              0              88
  29  Spatula         1.117          0.926          -1.415         0              0              0              64
  30  Apple           -1.750         1.522          0.295          0              90             0              87
  31  Knife           0.107          0.947          0.041          0              0              0              72
  32  SaltShaker      0.417          0.109          -1.220         0              0              0              53
  33  PepperShaker    1.802          0.907          -1.415         0              0              0              64
  34  CellPhone       1.710          0.693          0.608          0              0              0              65
  35  ButterKnife     0.083          0.760          -1.435         0              0              0              88
  36  Bread           -0.320         1.006          0.970          0              0              0              72
  37  Tomato          1.932          0.966          -0.053         0              0              0              64
  38  Potato          2.020          1.030          -0.599         0              270            0              85
  39  DishSponge      1.762          0.544          1.350          0              0              0              62
  40  Spoon           1.710          0.696          0.478          0              0              0              65
  41  Mug             -1.663         0.558          -0.081         0              90             0              87
  42  Bowl            1.234          0.107          -1.289         0              0              0              57
  43  Cabinet         -0.495         0.474          -1.149         0              0              0
  44  Window          -0.010         1.582          -1.821         0              0              0
  45  Drawer          0.805          0.475          -1.159         0              0              0
  46  StoveBurner     1.764          0.902          0.601          0              270            0
  47  Drawer          1.5            0.196          -0.019         0              0              0
  48  Drawer          1.5            0.629          -0.018         0              0              0
  49  Drawer          1.5            0.602          -0.019         0              270            0
  50  StoveBurner     1.975          0.902          0.384          0              270            0
  51  Cabinet         -1.703         2.022          -1.453         0              90             0
  52  Cabinet         1.789          2.019          -0.819         0              270            0
  53  Cabinet         0.494          0.474          -1.149         0              0              0
  54  Cabinet         0.409          0.475          0.444          0              0              0
  55  Drawer          -0.696         0.475          -1.159         0              0              0
  56  Drawer          1.5            0.140          0.599          0              270            0
  57  Cabinet         1.389          0.474          -1.149         0              0              0
  58  Drawer          1.5            0.305          0.600          0              0              0
  59  StoveBurner     1.975          0.902          0.601          0              270            0
  60  Drawer          1.5            0.429          -0.019         0              0              0
  61  StoveBurner     1.764          0.902          0.819          0              270            0
  62  Drawer          1.5            0.519          1.220          0              0              0
  63  Cabinet         1.705          2.019          -1.449         0              0              0
  64  CounterTop      0.002          0.947          -1.513         0              0              0
  65  Drawer          1.5            0.629          0.605          0              0              0
  66  Cabinet         -0.627         2.019          -1.449         0              0              0
  67  StoveBurner     1.764          0.902          0.384          0              270            0
  68  Drawer          1.5            0.538          0.600          0              0              0
  69  Sink            0.0            0.893          -1.434         0              0              0
  70  Drawer          1.5            0.782          1.220          0              270            0
  71  Window          2.217          1.565          -0.384         0              0              0
  72  CounterTop      -0.014         0.961          0.505          0              0              0
  73  Drawer          1.5            0.200          1.220          0              0              0
  74  StoveBurner     1.975          0.902          0.819          0              270            0
  75  Window          -3.240         1.616          2.693          0              270            0
  76  Cabinet         -1.389         0.474          -1.149         0              0              0
  77  LightSwitch     -0.153         1.291          3.700          0              180            0
  78  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  79  StoveKnob       1.602          0.917          0.570          0              270            180
  80  StoveKnob       1.602          0.917          0.625          0              270            180
  81  StoveKnob       1.602          0.917          0.739          0              270            180
  82  StoveKnob       1.602          0.917          0.680          0              270            180
  83  StoveKnob       1.602          0.917          0.462          0              270            180
  84  StoveKnob       1.602          0.917          0.517          0              270            180
  85  Microwave       1.932          0.899          -0.766         0              270            0
  86  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  87  Fridge          -1.764         0.0            0.014          0              90             0
  88  SinkBasin       -0.014         0.736          -1.435         0              0              0
  89  Toaster         1.977          0.900          -0.336         0              270            0
  90  Faucet          -0.020         1.137          -1.605         0              270            0
  91  Chair           -9.354         0.000          1.242          0              180            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn right, go forward, turn right, go forward, turn right and go to the table | STEP 2: Pick up the knife on the table | STEP 3: Turn around, go to the counter | STEP 4: Slice the tomato on the counter | STEP 5: Move a bit to the right, turn around | STEP 6: Put the knife into the top drawer | STEP 7: Turn to the counter | STEP 8: Pick up a tomato slice | STEP 9: Move right to the front of the microwave | STEP 10: Put the tomato slice in the microwave, start the microwave, wait, pick up the tomato slice from the microwave | STEP 11: Turn left, go forward, turn left to the table | STEP 12: Put the tomato slice on the table | END