Task: put a heated slice of tomato on top of the white table

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           0.908          1.5            0              90             0
   1  Potato          -0.020         0.803          -0.691         0              0              0              101
   2  CellPhone       -1.156         0.774          0.174          0              180            0              76
   3  Glassbottle     0.951          0.887          2.477          0              0              0              106
   4  WineBottle      -1.012         0.749          2.830          0              0              0              55
   5  WineBottle      -1.130         0.342          1.302          0              90             0              94
   6  Spoon           1.207          0.912          0.422          0              0              0              74
   7  Spoon           -1.290         0.750          2.830          0              180            0              55
   8  Fork            1.367          0.886          2.584          0              90             0              106
   9  Fork            -0.968         0.912          -0.509         0              0              0              80
  10  Spatula         0.041          0.773          -0.612         0              0              0              101
  11  Spatula         1.444          0.926          0.422          0              90             0              74
  12  Pot             0.802          0.939          -0.740         0              90             0              83
  13  Egg             1.034          0.920          2.261          0              0              0              106
  14  Cup             1.286          0.910          0.422          0              0              0              74
  15  Plate           -0.658         0.912          -0.509         0              0              0              80
  16  Knife           1.117          0.908          2.692          0              0              0              106
  17  Tomato          -1.320         1.338          0.673          0              90             0              94
  18  SoapBottle      1.367          0.887          2.153          0              0              0              106
  19  Bowl            -1.012         0.748          2.644          0              0              0              55
  20  Bread           1.365          0.974          0.139          0              0              0              74
  21  Bread           -1.320         1.484          1.092          0              90             0              94
  22  Lettuce         1.128          0.982          0.706          0              0              0              74
  23  SaltShaker      -1.211         0.908          -0.902         0              0              0              80
  24  SaltShaker      0.250          0.112          -0.533         0              0              0              68
  25  PepperShaker    1.219          0.112          0.770          0              0              0              66
  26  PepperShaker    1.365          0.907          0.706          0              0              0              74
  27  Mug             1.215          0.943          -0.633         0              320.314        0              93
  28  Mug             1.200          0.881          2.369          0              0              0              106
  29  Bread           -1.383         0.812          2.644          0              0              0              55
  30  Glassbottle     1.523          0.912          -0.144         0              0              0              74
  31  Fork            1.286          0.912          0.706          0              0              0              74
  32  Kettle          -1.357         0.739          3.024          0              240.000        0              55
  33  Tomato          -0.144         0.808          -0.573         0              0              0              101
  34  Plate           -1.320         0.752          0.778          0              90             0              94
  35  CellPhone       -1.105         0.747          2.087          0              0              0              55
  36  Lettuce         1.444          0.982          -0.428         0              0              0              74
  37  Pot             0.502          0.939          -0.740         0              90             0              81
  38  SoapBottle      1.207          0.912          -0.428         0              0              0              74
  39  WineBottle      -1.099         0.342          0.988          0              90             0              94
  40  Spatula         1.365          0.926          -0.144         0              270            0              74
  41  Bowl            -1.105         0.748          2.273          0              0              0              55
  42  Apple           -0.813         0.972          -0.589         0              90             0              80
  43  Cup             1.523          0.910          0.139          0              0              0              74
  44  Knife           1.117          0.908          2.477          0              90             0              106
  45  Egg             -0.144         0.792          -0.691         0              0              0              101
  46  SaltShaker      1.367          0.882          2.369          0              0              0              106
  47  PepperShaker    -1.356         2.149          1.037          0              0              0              73
  48  Potato          -1.194         0.386          0.778          0              90             0              94
  49  ButterKnife     1.284          0.886          2.477          0              0              0              106
  50  DishSponge      1.219          0.115          1.157          0              0              0              95
  51  Pan             -1.320         0.750          1.197          0              270            0              94
  52  Spoon           1.034          0.887          2.584          0              270            0              106
  53  SprayBottle     -1.325         2.152          0.538          0              0              0              73
  54  Mug             -1.105         0.744          1.902          0              0              0              55
  55  DiningTable     -1.182         0.006          2.414          0              90             0
  56  Cabinet         1.184          2.059          0.375          0              0              0
  57  Cabinet         1.184          2.059          -0.635         0              0              0
  58  Cabinet         0.591          2.309          -0.645         0              0              0
  59  Cabinet         -0.574         2.059          -0.644         0              0              0
  60  Cabinet         -1.103         2.059          -0.644         0              0              0
  61  Cabinet         -1.185         2.059          -0.331         0              0              0
  62  Cabinet         -1.185         2.059          -0.281         0              0              0
  63  Cabinet         -1.185         2.059          0.375          0              0              0
  64  Cabinet         1.184          2.309          1.174          0              0              0
  65  Cabinet         1.184          2.309          0.424          0              0              0
  66  Cabinet         0.988          0.402          0.581          0              0              0
  67  Cabinet         0.988          0.402          0.531          0              0              0
  68  Cabinet         0.988          0.402          -0.178         0              0              0
  69  Cabinet         0.335          0.402          -0.348         0              0              0
  70  Cabinet         -0.374         0.402          -0.348         0              0              0
  71  Cabinet         0.988          0.402          1.231          0              0              0
  72  Cabinet         -1.185         2.309          1.374          0              0              0
  73  Cabinet         -1.185         2.309          0.424          0              0              0
  74  CounterTop      1.274          0.947          0.064          0              0              0
  75  Drawer          1.116          0.792          -0.015         0              0              0
  76  Drawer          -1.116         0.792          0.210          0              180            0
  77  Cabinet         -0.990         0.402          0.374          0              180            0
  78  Drawer          -1.116         0.792          -0.170         0              180            0
  79  Cabinet         -0.990         0.402          -0.335         0              180            0
  80  CounterTop      -1.001         0.947          -0.669         0              0              0
  81  StoveBurner     0.502          0.932          -0.740         0              90             0
  82  StoveBurner     0.801          0.932          -0.473         0              0              0
  83  StoveBurner     0.801          0.932          -0.740         0              90             0
  84  Drawer          1.116          0.792          1.081          0              0              0
  85  Sink            -0.013         0.912          -0.615         0              0              0
  86  Drawer          1.116          0.792          0.732          0              0              0
  87  StoveBurner     0.502          0.932          -0.469         0              0              0
  88  Drawer          1.116          0.792          0.367          0              0              0
  89  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  90  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  91  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  92  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  93  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  94  Fridge          -1.300         0.008          0.987          0              90             0
  95  GarbageCan      1.296          -0.024         1.465          0              0              0
  96  Window          -0.012         1.641          -0.972         90             0              0
  97  Window          1.598          1.646          2.489          90             270            0
  98  Toaster         1.356          0.900          1.044          0              270            0
  99  LightSwitch     0.118          1.353          3.799          0              180            0
 100  Microwave       -1.343         0.900          0.053          0              90             0
 101  SinkBasin       -0.029         0.748          -0.612         0              0              0
 102  Faucet          -0.026         0.927          -0.808         0              0              0
 103  Shelf           -1.182         0.127          2.414          0              90             0
 104  Stool           1.140          0.007          3.262          1.206          20.753         0
 105  Shelf           -1.182         0.435          2.414          0              90             0
 106  DiningTable     1.169          0.014          2.569          0              0              1.896
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: turn to the left go right towards the white table | STEP 2: pick up the knife from the white table | STEP 3: turn around to the right go forward towards the sink | STEP 4: slice the tomato that is inside the sink | STEP 5: put the knife inside the sink | STEP 6: pick up a slice of tomato that is in the sink | STEP 7: turn to the right towards the microwave | STEP 8: open the microwave door put the slice of tomato heat it up get the slice back out | STEP 9: turn to the right go forward turn around to the right towards the white table | STEP 10: put the slice of tomato on top of the white table | END