Task: Put a cooked slice of tomato on the table, standing up.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          3.0            0              90             0
   1  Pan             -0.106         0.925          0.041          0              90             0              71
   2  Potato          -1.645         1.492          0.295          0              90             0              86
   3  Ladle           1.661          0.281          -0.020         0              0              0              46
   4  Ladle           1.658          0.164          0.454          0              270            0              55
   5  Kettle          0.194          0.113          -1.345         0              0              0              42
   6  DishSponge      1.234          0.108          -1.542         0              0              0              56
   7  Knife           1.900          0.933          1.333          0              0              0              63
   8  SoapBottle      1.234          0.112          -1.416         0              0              0              56
   9  Tomato          1.802          0.966          -1.221         0              0              0              63
  10  SaltShaker      -0.867         1.675          -1.652         0              0              0              65
  11  SaltShaker      -1.151         0.109          -1.487         0              0              0              75
  12  PepperShaker    2.073          0.907          1.182          0              0              0              63
  13  PepperShaker    0.321          0.921          0.041          0              0              0              71
  14  Bread           0.000          1.006          0.738          0              0              0              71
  15  Bread           0.214          1.006          0.273          0              0              0              71
  16  Lettuce         -1.814         0.988          -0.964         0              0              0              63
  17  Mug             0.417          0.107          -1.345         0              0              0              52
  18  SoapBottle      -1.462         0.915          -1.610         0              0              0              63
  19  Cup             -0.361         0.112          -1.597         0              0              0              42
  20  Pot             0.889          0.9            -1.412         0              0              0              63
  21  Fork            -0.213         0.926          0.738          0              0              0              71
  22  Ladle           1.769          0.165          0.672          0              270            0              55
  23  Kettle          1.765          0.938          0.601          0              180            0              45
  24  Egg             1.117          0.968          -1.610         0              0              0              63
  25  Plate           -1.114         1.678          -1.614         0              0              0              65
  26  Pan             -1.286         0.9            -1.348         0              79.769         0              63
  27  Lettuce         -1.803         1.545          -0.081         0              90             0              86
  28  Spatula         0.107          0.940          0.041          0              90             0              71
  29  Apple           0.083          0.813          -1.546         0              0              0              87
  30  Knife           0.321          0.947          0.273          0              90             0              71
  31  SaltShaker      0.107          0.921          0.506          0              0              0              71
  32  PepperShaker    0.194          0.109          -1.597         0              0              0              52
  33  CellPhone       1.713          0.114          -0.157         0              0              0              46
  34  ButterKnife     -0.088         0.760          -1.435         0              0              0              87
  35  Bread           1.802          0.992          -1.513         0              0              0              63
  36  Tomato          -1.692         0.618          -0.175         0              90             0              86
  37  Potato          1.892          1.030          -0.599         0              270            0              84
  38  DishSponge      -0.137         0.114          -1.284         0              0              0              42
  39  Spoon           -0.088         0.761          -1.380         0              0              0              87
  40  Mug             -0.249         0.109          -1.347         0              0              0              42
  41  Bowl            -1.483         1.678          -1.652         0              0              0              65
  42  Cabinet         -0.495         0.474          -1.149         0              0              0
  43  Window          -0.010         1.582          -1.821         0              0              0
  44  Drawer          0.805          0.475          -1.159         0              0              0
  45  StoveBurner     1.764          0.902          0.601          0              270            0
  46  Drawer          1.5            0.196          -0.019         0              0              0
  47  Drawer          1.5            0.629          -0.018         0              0              0
  48  Drawer          1.5            0.602          -0.019         0              270            0
  49  StoveBurner     1.975          0.902          0.384          0              270            0
  50  Cabinet         -1.703         2.022          -1.453         0              90             0
  51  Cabinet         1.789          2.019          -0.819         0              270            0
  52  Cabinet         0.494          0.474          -1.149         0              0              0
  53  Cabinet         0.409          0.475          0.444          0              0              0
  54  Drawer          -0.696         0.475          -1.159         0              0              0
  55  Drawer          1.5            0.140          0.599          0              270            0
  56  Cabinet         1.389          0.474          -1.149         0              0              0
  57  Drawer          1.5            0.305          0.600          0              0              0
  58  StoveBurner     1.975          0.902          0.601          0              270            0
  59  Drawer          1.5            0.429          -0.019         0              0              0
  60  StoveBurner     1.764          0.902          0.819          0              270            0
  61  Drawer          1.5            0.519          1.220          0              0              0
  62  Cabinet         1.705          2.019          -1.449         0              0              0
  63  CounterTop      0.002          0.947          -1.513         0              0              0
  64  Drawer          1.5            0.629          0.605          0              0              0
  65  Cabinet         -0.627         2.019          -1.449         0              0              0
  66  StoveBurner     1.764          0.902          0.384          0              270            0
  67  Drawer          1.5            0.538          0.600          0              0              0
  68  Sink            0.0            0.893          -1.434         0              0              0
  69  Drawer          1.5            0.782          1.220          0              270            0
  70  Window          2.217          1.565          -0.384         0              0              0
  71  CounterTop      -0.014         0.961          0.505          0              0              0
  72  Drawer          1.5            0.200          1.220          0              0              0
  73  StoveBurner     1.975          0.902          0.819          0              270            0
  74  Window          -3.240         1.616          2.693          0              270            0
  75  Cabinet         -1.389         0.474          -1.149         0              0              0
  76  LightSwitch     -0.153         1.291          3.700          0              180            0
  77  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  78  StoveKnob       1.602          0.917          0.570          0              270            180
  79  StoveKnob       1.602          0.917          0.625          0              270            180
  80  StoveKnob       1.602          0.917          0.739          0              270            180
  81  StoveKnob       1.602          0.917          0.680          0              270            180
  82  StoveKnob       1.602          0.917          0.462          0              270            180
  83  StoveKnob       1.602          0.917          0.517          0              270            180
  84  Microwave       1.932          0.899          -0.766         0              270            0
  85  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  86  Fridge          -1.764         0.0            0.014          0              90             0
  87  SinkBasin       -0.014         0.736          -1.435         0              0              0
  88  Toaster         1.977          0.900          -0.336         0              270            0
  89  Faucet          -0.020         1.137          -1.605         0              270            0
  90  Chair           -9.354         0.000          1.242          0              180            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn right and take eleven steps, turn right again to face the counter. | STEP 2: Pick up the large knife with the yellow handle. | STEP 3: Turn right and walk straight to the counter, turn left and stop. | STEP 4: Slice the tomato by the microwave. | STEP 5: Open the microwave and put the knife behind the egg with the blade pointing left. | STEP 6: Put a slice of tomato in the microwave in front of the knife’s handle, standing up. | STEP 7: Shut the door and turn on the microwave for a few seconds, open the door and take out only the tomato and shut the door. | STEP 8: Turn left for five steps, turn left for one step and stop to face the table.  | STEP 9: Put the tomato slice on the table in front of the salt shaker, standing vertically with the face to the left. | END