Task: Slice a tomato, cook a slice of it

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          2.5            0              270            0
   1  Potato          -3.307         1.590          2.778          0              90             0              65
   2  Potato          -3.542         0.142          2.008          0              0              0              69
   3  DishSponge      -1.274         0.049          0.381          0              0              0              52
   4  DishSponge      -2.042         0.487          0.579          0              0              0              49
   5  ButterKnife     -0.785         1.047          1.920          0              0              0              48
   6  ButterKnife     -0.785         1.047          3.042          0              0              0              48
   7  Pot             -3.000         1.133          0.227          0              270            0              62
   8  Pot             -3.506         1.291          2.849          0              90             0              65
   9  Fork            -3.742         1.125          0.190          0              90             0              55
  10  Spoon           -3.778         1.126          0.095          0              90             0              55
  11  Egg             -2.262         1.155          0.662          0              0              0              58
  12  Egg             -3.747         0.142          2.008          0              0              0              69
  13  Cup             -0.662         1.046          3.042          0              0              0              48
  14  Cup             -3.639         1.560          2.778          0              90             0              65
  15  SoapBottle      -0.939         1.125          0.569          0              0              0              60
  16  Tomato          -0.908         1.088          3.042          0              0              0              48
  17  Tomato          -0.662         1.088          1.920          0              0              0              48
  18  Tomato          -2.514         1.165          0.190          0              0              0              58
  19  SaltShaker      -3.851         1.121          0.284          0              0              0              55
  20  Bread           -0.662         1.134          2.817          0              0              0              48
  21  Fork            -3.851         1.125          0.473          0              90             0              55
  22  SoapBottle      -1.663         1.154          0.095          0              0              0              45
  23  Pot             -0.415         1.052          1.920          0              0              0              48
  24  Ladle           -0.771         1.164          0.659          0              180            0              60
  25  Potato          -3.849         0.142          1.978          0              0              0              69
  26  Plate           -1.195         0.047          0.608          0              0              0              52
  27  Bread           -0.168         1.134          2.144          0              0              0              48
  28  Lettuce         -2.262         1.202          0.473          0              0              0              58
  29  Spatula         -2.011         1.139          0.284          0              90             0              58
  30  Pan             -0.266         1.038          2.561          0              0              0              48
  31  Egg             -3.814         1.155          0.662          0              0              0              55
  32  Cup             -3.307         0.909          2.849          0              90             0              65
  33  SaltShaker      -2.545         0.091          0.646          0              0              0              51
  34  Knife           -0.785         1.080          2.369          0              0              0              48
  35  Bowl            -1.522         0.046          0.495          0              0              0              63
  36  PepperShaker    -2.181         0.899          0.544          0              0              0              56
  37  ButterKnife     -0.785         1.048          2.817          0              0              0              48
  38  Apple           -0.538         1.114          2.144          0              0              0              48
  39  Tomato          -0.785         1.087          2.144          0              0              0              48
  40  DishSponge      -0.662         1.047          3.266          0              0              0              48
  41  Spoon           -0.715         1.126          0.478          0              0              0              60
  42  Mug             -0.908         1.043          2.593          0              0              0              48
  43  StoveKnob       -3.322         1.053          0.709          45             0              0
  44  StoveBurner     -3.474         1.097          0.227          0              180            0
  45  Sink            -1.394         0.982          0.439          0              0              0
  46  StoveBurner     -3.474         1.097          0.479          0              180            0
  47  StoveKnob       -3.164         1.053          0.709          45             0              0
  48  DiningTable     -0.620         0.017          2.486          0              0              0
  49  Drawer          -2.043         0.608          0.594          0              0              0
  50  Drawer          -2.043         0.216          0.594          0              0              0
  51  Drawer          -2.498         0.216          0.594          0              0              0
  52  Cabinet         -1.001         0.393          0.734          0              0              0
  53  StoveBurner     -3.000         1.097          0.480          0              0              0
  54  StoveKnob       -3.492         1.053          0.709          45             0              0
  55  CounterTop      -3.856         1.160          0.379          0              0              0
  56  Drawer          -2.043         0.937          0.599          0              0              0
  57  Drawer          -2.509         0.937          0.599          0              0              0
  58  CounterTop      -2.280         1.160          0.379          0              0              0
  59  StoveKnob       -2.985         1.053          0.709          45             0              0
  60  CounterTop      -0.514         1.160          0.492          0              0              0
  61  Drawer          -2.498         0.608          0.594          0              0              0
  62  StoveBurner     -3.000         1.097          0.227          0              0              0
  63  Cabinet         -1.733         0.393          0.734          0              0              0
  64  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  65  Fridge          -3.519         0.0            2.717          0              90             0
  66  Window          -1.394         1.924          0.014          90             0              0
  67  Window          -3.266         1.924          0.014          90             0              0
  68  Toaster         -0.225         1.038          2.865          0              270            0
  69  GarbageCan      -3.696         0.002          2.008          0              0              0
  70  SinkBasin       -1.389         0.921          0.428          0              0              0
  71  Microwave       -0.366         1.113          0.430          0              0              0
  72  HousePlant      -2.155         1.101          0.169          0              332.897        0
  73  LightSwitch     -2.584         1.299          3.5            0              180            0
  74  Faucet          -1.393         1.373          0.168          0              270            0
  75  NorthWall
  76  SouthWall
  77  SouthWall

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