Task: Slice a tomato, cook it and bring it to the sink

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            0.900          -1.0           0              270            0
   1  Ladle           -0.031         0.800          -2.008         0              0              0              83
   2  Ladle           -1.386         1.699          0.231          0              270            0              57
   3  DishSponge      1.845          0.062          0.138          0              0              0              76
   4  Egg             0.055          0.797          -2.008         0              0              0              83
   5  Egg             1.945          1.461          -0.644         0              270            0              80
   6  Knife           0.744          0.934          -2.014         0              0              0              73
   7  SoapBottle      1.841          1.652          -1.671         0              0              0              51
   8  Tomato          2.002          0.112          0.109          0              0              0              76
   9  Bowl            1.419          0.908          -2.183         0              0              0              73
  10  PepperShaker    -0.997         0.909          -0.048         0              0              0              66
  11  PepperShaker    -0.543         0.690          0.279          0              180            0              67
  12  Lettuce         1.945          0.893          -0.365         0              270            0              80
  13  Apple           2.000          1.147          -0.271         0              270            0              80
  14  Apple           1.781          0.865          -0.271         0              270            0              80
  15  Pan             -1.289         0.957          -0.756         0              180            0              48
  16  Knife           -0.152         1.155          0.485          0              0              0              69
  17  Bowl            1.945          0.814          -0.644         0              270            0              80
  18  Fork            0.071          1.132          0.706          0              0              0              69
  19  Cup             0.101          0.750          -1.938         0              0              0              83
  20  Ladle           -0.205         0.950          0.188          0              0              0              66
  21  Apple           1.910          1.064          -1.245         0              270            0              78
  22  Kettle          1.469          1.654          -2.200         0              90             0              46
  23  Vase            -1.063         0.915          0.294          0              0              0              66
  24  Potato          -0.031         0.793          -2.063         0              0              0              83
  25  Pot             -1.056         0.956          -0.672         0              180            0              45
  26  Bread           1.945          1.509          -0.365         0              270            0              80
  27  Plate           1.891          1.097          -0.737         0              270            0              80
  28  Spatula         0.008          0.928          0.294          0              270            0              66
  29  PaperTowelRoll  2.900          0.984          0.195          0              180            0              77
  30  Vase            2.699          0.869          0.182          0              0              0              77
  31  Egg             0.055          0.797          -2.118         0              0              0              83
  32  SoapBottle      3.002          0.879          0.087          0              180            0              77
  33  SaltShaker      -0.053         0.691          0.056          0              180            0              72
  34  Lettuce         -0.256         0.867          -1.969         327.984        40.845         31.472         83
  35  PepperShaker    -0.580         0.108          -2.003         0              0              0              58
  36  ButterKnife     -1.080         0.913          -0.292         0              0              0              66
  37  DishSponge      -1.330         0.913          -0.231         0              0              0              66
  38  Vase            2.979          0.539          0.128          0              0              0              79
  39  Spoon           -0.657         0.912          -2.098         0              0              0              73
  40  Tomato          1.836          0.866          -0.830         0              270            0              80
  41  Mug             1.813          1.010          -1.402         0              270            0              78
  42  Statue          -1.259         0.918          -2.182         0              0              0              73
  43  Drawer          -0.819         0.75           -1.690         0              0              0
  44  Cabinet         -1.149         2.264          -0.838         0              90             0
  45  StoveBurner     -1.056         0.949          -0.671         0              180            0
  46  Cabinet         1.738          2.019          -2.000         0              0              0
  47  Cabinet         1.389          0.469          -1.059         0              0              0
  48  StoveBurner     -1.289         0.949          -0.755         0              180            0
  49  Faucet          -0.157         1.052          -2.196         0              270            0
  50  Cabinet         1.75           2.019          -1.029         0              0              0
  51  Cabinet         1.75           2.019          -1.399         0              0              0
  52  Cabinet         1.179          2.019          -2.0           0              0              0
  53  Cabinet         0.199          2.019          -2.0           0              0              0
  54  Cabinet         -1.100         2.019          -2.0           0              0              0
  55  Cabinet         -1.149         2.019          -1.979         0              0              0
  56  Cabinet         -1.149         2.019          -0.770         0              0              0
  57  Cabinet         -1.149         2.019          0.380          0              0              0
  58  Cabinet         -0.819         0.469          -1.689         0              0              0
  59  Cabinet         -0.839         0.469          -1.664         0              0              0
  60  Cabinet         -0.839         0.469          -0.049         0              0              0
  61  Cabinet         -0.414         0.370          -0.009         0              0              0
  62  Sink            -0.118         0.875          -2.009         0              0              0
  63  StoveBurner     -1.289         0.949          -1.019         0              0              0
  64  Cabinet         0.119          2.264          -2.0           0              0              0
  65  Cabinet         -0.459         2.264          -2.0           0              0              0
  66  CounterTop      -0.665         0.949          0.188          0              0              0
  67  Drawer          -0.449         0.75           -0.010         0              180            0
  68  Cabinet         -0.450         0.469          -0.009         0              0              0
  69  CounterTop      -0.630         1.167          0.573          0              0              0
  70  StoveBurner     -1.056         0.949          -1.126         0              0              0
  71  Cabinet         1.376          0.460          -1.685         0              0              0
  72  Drawer          -0.070         0.75           -0.009         0              180            0
  73  CounterTop      1.159          0.946          -2.013         0              0              0
  74  Cabinet         -1.150         2.264          -1.418         0              90             0
  75  HousePlant      -1.246         1.108          0.606          0              0              0
  76  GarbageCan      1.923          -0.010         0.137          0              0              0
  77  Shelf           2.759          0.880          0.144          0              0              0
  78  Microwave       1.827          0.900          -1.354         0              270            0
  79  Shelf           2.759          0.552          0.145          0              0              0
  80  Fridge          1.975          0.0            -0.537         0              0              0
  81  LightSwitch     0.404          1.297          2.0            0              180            0
  82  Shelf           2.760          0.172          0.145          0              0              0
  83  SinkBasin       -0.129         0.752          -2.007         0              0              0
  84  StoveKnob       -0.873         0.903          -0.827         45             90             0
  85  StoveKnob       -0.873         0.903          -0.676         45             90             0
  86  StoveKnob       -0.873         0.903          -0.966         45             90             0
  87  StoveKnob       -0.873         0.903          -1.123         45             90             0
  88  Toaster         0.840          0.900          -2.057         0              0              0
  89  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  90  ShelvingUnit    2.760          0.006          0.144          0              0              0
  91  Stool           -0.826         0.010          0.908          0              347.513        0
  92  Stool           -0.132         0.010          0.883          0              71.555         0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn right, go forward a bit, turn left and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward a bit, turn left and go to the fridge | STEP 4: Slice the tomato in the fridge | STEP 5: Turn around, go forward, turn left at the sink | STEP 6: Put the knife in the sink | STEP 7: Turn around, go forward a bit, turn right and go to the fridge | STEP 8: Pick up a tomato slice from the fridge | 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: Turn around, go forward, turn left at the sink | STEP 12: Put the tomato slice in the sink | END