Task: put a heated slice of tomato on 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          1.75           0              270            0
   1  SprayBottle     1.414          0.085          1.472          0              0              0              87
   2  SprayBottle     -1.294         1.655          -0.557         0              0              0              53
   3  Potato          -1.206         1.681          0.984          0              90             0              86
   4  Potato          -1.149         1.333          0.883          0              90             0              86
   5  CellPhone       -1.475         0.747          2.644          0              0              0              47
   6  DishSponge      1.099          0.775          0.020          0              0              0              67
   7  WineBottle      1.262          1.656          -0.274         0              0              0              48
   8  Kettle          1.128          0.912          -0.428         0              0              0              66
   9  Kettle          0.802          0.939          -0.740         0              90             0              75
  10  Spoon           1.286          0.912          0.706          0              0              0              66
  11  Fork            1.117          0.886          2.369          0              180            0              98
  12  Cup             -1.012         0.748          2.644          0              0              0              47
  13  Plate           1.327          1.661          0.194          0              0              0              48
  14  Plate           -1.290         0.749          2.459          0              0              0              47
  15  Knife           -0.658         0.934          -0.589         0              0              0              72
  16  Tomato          -1.206         1.470          0.988          0              90             0              86
  17  Tomato          -1.378         1.686          0.781          0              90             0              86
  18  Bread           -1.263         0.814          0.988          0              90             0              86
  19  Mug             -1.361         1.010          0.046          0              90             0              92
  20  Mug             0.103          0.753          -0.533         0              0              0              93
  21  Bread           1.069          0.935          2.683          0              0              0              98
  22  Glassbottle     1.263          2.157          0.511          0              0              0              57
  23  Fork            -1.197         0.749          2.087          0              180            0              47
  24  Kettle          -0.082         0.759          -0.651         0              0              0              93
  25  Tomato          -0.919         0.798          1.902          0              0              0              47
  26  Plate           1.131          0.117          -0.011         0              0              0              60
  27  CellPhone       1.200          0.884          2.261          0              0              0              98
  28  Lettuce         -1.290         0.819          2.830          0              0              0              47
  29  Pot             1.207          0.911          0.422          0              0              0              66
  30  SoapBottle      1.284          0.887          2.692          0              0              0              98
  31  WineBottle      -0.129         0.117          -0.621         0              0              0              62
  32  Spatula         1.523          0.926          -0.144         0              0              0              66
  33  Bowl            -1.012         0.747          3.015          0              0              0              47
  34  Apple           1.117          0.946          2.477          0              0              0              98
  35  Cup             -1.394         1.014          -0.109         0              90             0              92
  36  Knife           1.450          0.908          2.692          0              90             0              98
  37  Egg             -1.263         1.049          -0.005         0              90             0              92
  38  SaltShaker      1.284          0.882          2.477          0              0              0              98
  39  PepperShaker    -1.357         1.652          -0.367         0              0              0              53
  40  Potato          -1.123         0.957          -0.748         0              0              0              72
  41  ButterKnife     1.367          0.886          2.692          0              0              0              98
  42  DishSponge      1.189          0.085          1.472          0              0              0              87
  43  Pan             -1.332         0.9            -0.699         0              345.0          0              72
  44  Spoon           1.042          0.777          0.368          0              90             0              80
  45  SprayBottle     -1.388         1.655          -0.481         0              0              0              53
  46  Mug             1.284          0.881          2.369          0              0              0              98
  47  DiningTable     -1.182         0.006          2.414          0              90             0
  48  Cabinet         1.184          2.059          0.375          0              0              0
  49  Cabinet         1.184          2.059          -0.635         0              0              0
  50  Cabinet         0.591          2.309          -0.645         0              0              0
  51  Cabinet         -0.574         2.059          -0.644         0              0              0
  52  Cabinet         -1.103         2.059          -0.644         0              0              0
  53  Cabinet         -1.185         2.059          -0.331         0              0              0
  54  Cabinet         -1.185         2.059          -0.281         0              0              0
  55  Cabinet         -1.185         2.059          0.375          0              0              0
  56  Cabinet         1.184          2.309          1.174          0              0              0
  57  Cabinet         1.184          2.309          0.424          0              0              0
  58  Cabinet         0.988          0.402          0.581          0              0              0
  59  Cabinet         0.988          0.402          0.531          0              0              0
  60  Cabinet         0.988          0.402          -0.178         0              0              0
  61  Cabinet         0.335          0.402          -0.348         0              0              0
  62  Cabinet         -0.374         0.402          -0.348         0              0              0
  63  Cabinet         0.988          0.402          1.231          0              0              0
  64  Cabinet         -1.185         2.309          1.374          0              0              0
  65  Cabinet         -1.185         2.309          0.424          0              0              0
  66  CounterTop      1.274          0.947          0.064          0              0              0
  67  Drawer          1.116          0.792          -0.015         0              0              0
  68  Drawer          -1.116         0.792          0.210          0              180            0
  69  Cabinet         -0.990         0.402          0.374          0              180            0
  70  Drawer          -1.116         0.792          -0.170         0              180            0
  71  Cabinet         -0.990         0.402          -0.335         0              180            0
  72  CounterTop      -1.001         0.947          -0.669         0              0              0
  73  StoveBurner     0.502          0.932          -0.740         0              90             0
  74  StoveBurner     0.801          0.932          -0.473         0              0              0
  75  StoveBurner     0.801          0.932          -0.740         0              90             0
  76  Drawer          1.116          0.792          1.081          0              0              0
  77  Sink            -0.013         0.912          -0.615         0              0              0
  78  Drawer          1.116          0.792          0.732          0              0              0
  79  StoveBurner     0.502          0.932          -0.469         0              0              0
  80  Drawer          1.116          0.792          0.367          0              0              0
  81  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  82  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  83  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  85  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  86  Fridge          -1.300         0.008          0.987          0              90             0
  87  GarbageCan      1.296          -0.024         1.465          0              0              0
  88  Window          -0.012         1.641          -0.972         90             0              0
  89  Window          1.598          1.646          2.489          90             270            0
  90  Toaster         1.356          0.900          1.044          0              270            0
  91  LightSwitch     0.118          1.353          3.799          0              180            0
  92  Microwave       -1.343         0.900          0.053          0              90             0
  93  SinkBasin       -0.029         0.748          -0.612         0              0              0
  94  Faucet          -0.026         0.927          -0.808         0              0              0
  95  Shelf           -1.182         0.127          2.414          0              90             0
  96  Stool           1.140          0.007          3.262          1.206          20.753         0
  97  Shelf           -1.182         0.435          2.414          0              90             0
  98  DiningTable     1.169          0.014          2.569          0              0              1.896
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: turn to the left towards the counter | STEP 2: pick up the knife from the counter | STEP 3: turn around to the left go forward towards the white table | STEP 4: slice a tomato that is on the white table  | STEP 5: turn to the left towards to the refrigerator  | STEP 6: put the knife inside the refrigerator  | STEP 7: turn to the right towards the white table | STEP 8: pick up a slice of the tomato | STEP 9: turn to the left go right towards the microwave  | STEP 10: put the slice of tomato inside the microwave heat it up  get it back out  | STEP 11: turn to the right go right turn to the right towards the white table | STEP 12: put the slice of tomato on top of the white table | END