Task: 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           -0.5           0.914          2.75           0              90             0
   1  Potato          -1.655         0.923          0.461          0              90             0              84
   2  DishSponge      -3.097         0.745          1.202          0              0              0              49
   3  DishSponge      -2.402         0.915          4.106          0              0              0              48
   4  WineBottle      -3.272         0.916          1.607          0              0              0              57
   5  WineBottle      -1.161         0.088          3.852          0              270            0              80
   6  Spatula         -3.272         0.930          2.844          0              0              0              48
   7  Spatula         -1.655         0.906          0.049          0              0              0              84
   8  Spoon           -1.523         0.892          0.049          0              90             0              84
   9  Fork            -1.391         0.892          0.461          0              90             0              84
  10  Pot             -3.424         0.966          2.374          0              0              0              54
  11  Egg             -1.256         0.122          3.724          0              270            0              80
  12  Cup             -1.985         0.789          3.662          0              0              0              78
  13  Knife           -1.259         0.915          0.152          0              90             0              84
  14  Knife           -3.368         0.939          1.273          0              180            0              57
  15  SoapBottle      -2.402         0.915          3.567          0              0              0              48
  16  SoapBottle      -3.654         0.915          1.106          0              0              0              57
  17  SaltShaker      -1.655         0.887          0.255          0              90             0              84
  18  PepperShaker    -1.523         0.887          0.152          0              90             0              84
  19  PepperShaker    -3.654         0.912          1.524          0              0              0              57
  20  Lettuce         -0.206         1.072          4.051          0              180            0              74
  21  Bread           -3.463         0.997          1.189          0              0              0              57
  22  Mug             -3.463         0.910          1.440          0              0              0              57
  23  Mug             -3.571         1.450          3.805          0              90             0              65
  24  Apple           -1.857         0.849          3.625          0              0              0              78
  25  Egg             -1.161         0.122          3.692          0              270            0              80
  26  Knife           -1.127         0.915          0.461          0              180            0              84
  27  Fork            -3.272         0.916          3.827          0              0              0              48
  28  Bread           -0.089         1.355          4.097          0              180            0              74
  29  Potato          -1.655         0.923          -0.053         0              90             0              84
  30  Plate           -3.006         0.904          3.677          0              0              0              48
  31  Pot             -3.424         0.966          1.971          0              0              0              56
  32  Kettle          -3.145         0.069          2.920          0              270            0              61
  33  WineBottle      -1.523         0.892          0.564          0              90             0              84
  34  Bowl            -0.790         0.985          3.988          0              180            0              74
  35  Tomato          -1.127         0.960          0.564          0              90             0              84
  36  Cup             -3.081         0.915          3.008          0              0              0              48
  37  Spatula         -3.156         0.761          2.861          0              90             0              50
  38  SoapBottle      -1.127         0.891          0.049          0              90             0              84
  39  Lettuce         -1.391         0.977          -0.053         0              90             0              84
  40  Pan             -2.614         0.902          3.620          0              0              0              48
  41  Apple           -1.919         0.975          4.188          0              0              0              48
  42  SaltShaker      -1.504         0.911          4.188          0              0              0              48
  43  PepperShaker    -1.391         0.887          0.255          0              90             0              84
  44  ButterKnife     -3.463         0.915          2.844          0              0              0              48
  45  DishSponge      -1.565         0.080          3.625          0              0              0              80
  46  Spoon           -1.787         0.892          0.461          0              270            0              84
  47  Mug             -0.994         0.886          0.255          0              90             0              84
  48  CounterTop      -3.381         0.950          3.335          0              0              0
  49  Drawer          -3.121         0.775          1.357          0              0              0
  50  Drawer          -3.121         0.777          2.916          0              0              0
  51  StoveBurner     -3.148         0.958          2.374          0              0              0
  52  Sink            -1.797         0.917          3.660          0              0              0
  53  Cabinet         -1.421         0.388          3.459          0              0              0
  54  StoveBurner     -3.424         0.958          2.374          0              0              0
  55  Cabinet         -3.365         1.931          2.676          0              0              0
  56  StoveBurner     -3.424         0.958          1.971          0              0              0
  57  CounterTop      -3.381         0.951          1.356          0              0              0
  58  Drawer          -3.121         0.781          3.295          0              0              0
  59  Cabinet         -2.205         0.388          3.459          0              0              0
  60  Cabinet         -2.963         0.388          3.459          0              0              0
  61  Cabinet         -2.992         0.388          2.683          0              0              0
  62  Cabinet         -3.352         2.205          1.715          0              0              0
  63  Cabinet         -3.352         2.205          2.653          0              0              0
  64  Cabinet         -2.189         0.388          3.466          0              0              0
  65  Cabinet         -3.365         1.931          3.963          0              0              0
  66  Cabinet         -3.365         1.931          1.056          0              0              0
  67  Cabinet         -2.992         0.388          1.037          0              0              0
  68  StoveBurner     -3.143         0.958          1.971          0              0              0
  69  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  70  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  71  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  72  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  73  Toaster         -2.654         0.902          4.064          0              180            0
  74  Fridge          -0.439         0.014          3.996          0              0              0
  75  LightSwitch     0.25           1.383          2.085          0              270            0
  76  Window          -1.430         1.338          -0.347         90             0              0
  77  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  78  SinkBasin       -1.802         0.778          3.700          0              0              0
  79  Microwave       -3.484         1.430          2.182          0              90             0
  80  GarbageCan      -1.184         -0.020         3.794          0              270            0
  81  Blinds          -1.404         2.092          -0.296         0              0              0
  82  Stool           -1.373         0.014          1.048          1.214          20.754         0
  83  Faucet          -1.788         0.903          3.931          270            90             0
  84  DiningTable     -1.399         0.010          0.238          0              0              0
  85  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn right, go forward, turn right to the table  | STEP 2: Pick up the knife on the table  | STEP 3: Slice the tomato on the table | STEP 4: Turn right, go forward, turn left and go to the microwave | STEP 5: Put the knife in the microwave | STEP 6: Turn around, go forward, turn right, go forward, turn right at the table  | STEP 7: Pick up a tomato slice from the table  | STEP 8: Turn right, go forward, turn left and go 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: Turn around, go forward, turn left at the sink | STEP 11: Put the tomato in the sink | END