Task: Slice a tomato, cook a slice of tomato

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.900          -1.5           0              0              0
   1  Potato          -0.263         0.839          2.080          0              180            0              78
   2  Potato          0.193          1.608          2.279          0              180            0              78
   3  ButterKnife     -0.330         0.707          -1.573         0              270            0              82
   4  WineBottle      -1.110         1.655          -1.712         0              0              0              65
   5  WineBottle      1.584          0.115          -1.338         0              0              0              59
   6  Spatula         -1.738         0.927          -0.939         0              0              0              53
   7  Fork            -2.148         0.719          -1.716         0              90             0              72
   8  Fork            -2.152         0.875          3.370          0              270            0              55
   9  Spoon           -1.160         0.913          -1.267         0              0              0              53
  10  Spoon           -1.583         0.720          -0.859         0              90             0              68
  11  Egg             -0.263         0.828          2.194          0              180            0              78
  12  Plate           -2.996         0.882          3.147          0              270            0              55
  13  Knife           0.179          0.950          -1.356         0              0              0              50
  14  Knife           1.760          0.932          -1.528         0              90             0              73
  15  Bowl            0.663          0.910          -1.572         0              0              0              53
  16  SaltShaker      0.571          0.908          -1.776         0              0              0              53
  17  SaltShaker      -2.859         0.871          2.706          0              225            0              55
  18  PepperShaker    -1.649         0.716          -0.859         0              0              0              68
  19  Lettuce         -3.017         0.939          2.863          0              225            0              55
  20  Lettuce         -2.510         0.939          2.715          0              0              0              55
  21  Book            3.637          0.549          1.553          0              270            0              76
  22  Fork            0.179          0.929          -1.573         0              270            0              50
  23  Tomato          -1.516         0.959          -1.591         0              0              0              53
  24  Egg             -0.149         0.414          2.025          0              180            0              78
  25  Kettle          -0.833         0.900          -1.757         0              0              0              53
  26  Vase            -0.833         0.913          -1.471         0              0              0              53
  27  Cup             3.716          0.879          1.452          0              270            0              74
  28  WineBottle      -0.897         0.193          2.136          0              90             0              83
  29  Plate           -2.248         0.878          2.916          0              135            0              55
  30  Spatula         -2.405         0.893          3.685          0              225            0              55
  31  Potato          -1.516         0.948          0.363          0              0              0              53
  32  Pot             0.974          0.957          -1.419         0              180            0              71
  33  Knife           -2.898         0.900          3.460          0              135            0              55
  34  SaltShaker      -0.888         1.650          -1.750         0              0              0              65
  35  PepperShaker    -3.174         0.874          3.021          0              225            0              55
  36  Lettuce         -2.367         0.943          3.408          0              225            0              55
  37  ButterKnife     -1.738         0.912          -1.265         0              0              0              53
  38  Bread           -1.601         0.980          -0.837         0              334.888        0              53
  39  Vase            -2.510         0.875          3.053          0              0              0              55
  40  DishSponge      -2.828         0.878          2.999          0              270            0              55
  41  Apple           0.525          0.967          -1.369         0              0              0              53
  42  Pan             0.974          0.957          -1.688         0              180            0              52
  43  Spoon           -1.516         0.913          -0.614         0              0              0              68
  44  SoapBottle      0.069          0.929          -1.646         0              270            0              50
  45  Mug             -2.733         0.869          2.715          0              0              0              55
  46  Statue          3.676          0.168          1.410          0              334.521        0              76
  47  Statue          -1.627         0.910          0.037          0              0              0              53
  48  Bowl            -2.584         0.872          3.559          0              0              0              55
  49  Cabinet         -2.171         2.009          -1.538         0              0              0
  50  Sink            0.024          0.771          -1.708         0              270            0
  51  Cabinet         1.444          2.259          -1.542         0              0              0
  52  StoveBurner     0.974          0.957          -1.688         0              180            0
  53  CounterTop      -1.866         0.947          -0.614         0              0              0
  54  Cabinet         -2.217         0.373          -1.874         0              0              0
  55  DiningTable     -2.663         0.002          3.208          0              0              0
  56  StoveBurner     1.328          0.957          -1.688         0              180            0
  57  StoveBurner     1.328          0.957          -1.420         0              180            0
  58  Cabinet         -1.478         0.373          -1.235         0              0              0
  59  Cabinet         1.775          0.372          -1.242         0              0              0
  60  Cabinet         0.774          0.372          -1.242         0              0              0
  61  Cabinet         0.375          0.372          -1.242         0              0              0
  62  Cabinet         -0.574         0.372          -1.238         0              0              0
  63  Cabinet         1.775          2.009          -1.542         0              0              0
  64  Cabinet         0.524          2.009          -1.542         0              0              0
  65  Cabinet         -0.714         2.009          -1.542         0              0              0
  66  Cabinet         -1.671         2.009          -1.538         0              0              0
  67  Cabinet         0.854          2.259          -1.542         0              0              0
  68  Drawer          -1.636         0.683          -0.930         0              0              0
  69  Drawer          1.650          0.682          -1.396         0              0              0
  70  Drawer          0.600          0.682          -1.396         0              0              0
  71  StoveBurner     0.974          0.957          -1.419         0              180            0
  72  Drawer          -2.062         0.683          -1.579         0              0              0
  73  CounterTop      1.645          0.945          -1.527         0              0              0
  74  Shelf           3.725          0.880          1.671          0              90             0
  75  LightSwitch     2.830          1.266          -0.748         0              0              0
  76  Shelf           3.726          0.552          1.671          0              90             0
  77  Microwave       1.150          1.655          -1.614         0              0              0
  78  Fridge          -0.035         0.0            2.177          0              180            0
  79  Window          -0.115         1.802          -1.896         90             0              0
  80  Window          -4.009         1.799          0.310          90             90             0
  81  Shelf           3.726          0.172          1.671          0              90             0
  82  SinkBasin       -0.330         0.686          -1.581         0              270            0
  83  GarbageCan      -0.870         -0.001         2.136          0              90             0
  84  StoveKnob       1.089          0.913          -1.243         45             0              0
  85  StoveKnob       1.208          0.913          -1.243         45             0              0
  86  StoveKnob       1.340          0.913          -1.243         45             0              0
  87  StoveKnob       0.961          0.913          -1.243         45             0              0
  88  Toaster         1.637          0.900          -1.673         0              0              0
  89  Chair           -3.505         0.002          3.290          0              105.736        0
  90  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  91  HousePlant      -2.663         0.835          3.209          0              0              0
  92  Faucet          -0.187         0.922          -1.75          0              311.166        0
  93  ShelvingUnit    3.726          0.006          1.671          0              90             0
  94  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  95  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  96  Chair           -2.934         0.002          2.437          0              28.531         0
  97  Chair           -1.698         0.002          3.235          0              245.204        0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

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