Task: slice a tomato and place a warmed up slice near 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           -1.25          0.900          1.5            0              0              0
   1  Potato          -3.229         0.759          3.061          0              180            0              69
   2  Potato          -3.851         1.155          0.284          0              0              0              59
   3  Ladle           -0.415         1.087          1.920          0              0              0              52
   4  DishSponge      -0.785         1.047          1.920          0              0              0              52
   5  DishSponge      -0.908         1.046          3.042          0              0              0              52
   6  ButterKnife     -2.388         1.124          0.284          0              0              0              62
   7  Fork            -0.538         1.047          2.144          0              0              0              52
   8  Fork            -0.168         1.047          1.920          0              0              0              52
   9  Spoon           -2.497         0.488          0.545          0              90             0              65
  10  Spoon           -2.042         0.096          0.545          0              90             0              54
  11  Egg             -0.538         1.077          2.593          0              0              0              52
  12  Egg             -3.373         0.942          2.778          0              90             0              69
  13  Cup             -0.908         1.046          3.266          0              0              0              52
  14  Cup             -0.939         1.122          0.478          0              0              0              64
  15  Knife           -0.538         1.080          3.266          0              0              0              52
  16  Knife           -2.388         1.157          0.473          0              0              0              62
  17  SoapBottle      -0.662         1.048          3.266          0              0              0              52
  18  Tomato          -0.908         1.088          2.369          0              0              0              52
  19  Bowl            -3.307         1.284          2.991          0              90             0              69
  20  PepperShaker    -2.262         1.121          0.567          0              0              0              62
  21  Bread           -0.662         1.133          2.817          0              0              0              52
  22  Lettuce         -2.514         1.202          0.379          0              0              0              62
  23  Apple           -3.373         1.627          2.778          0              90             0              69
  24  Apple           -3.747         0.179          1.978          0              0              0              73
  25  Fork            -2.388         1.125          0.662          0              0              0              62
  26  SoapBottle      -3.814         1.125          0.379          0              0              0              59
  27  Pot             -3.475         1.133          0.48           0              90             0              50
  28  Ladle           -1.922         1.139          0.377          351.028        45             351.753        62
  29  Potato          -3.572         1.317          3.061          0              90             0              69
  30  Plate           -3.506         1.285          2.920          0              90             0              69
  31  Bread           -0.785         1.134          2.593          0              0              0              52
  32  Lettuce         -3.373         1.637          3.061          0              90             0              69
  33  Spatula         -0.538         1.063          2.817          0              90             0              52
  34  Pan             -3.000         1.133          0.480          0              270            0              57
  35  Egg             -3.542         0.142          1.948          0              0              0              73
  36  Cup             -3.778         1.122          0.662          0              0              0              59
  37  SaltShaker      -2.088         0.898          0.511          0              0              0              60
  38  Knife           -0.662         1.080          2.369          0              0              0              52
  39  Bowl            -1.562         0.046          0.438          0              0              0              67
  40  PepperShaker    -0.785         1.044          2.817          0              0              0              52
  41  ButterKnife     -2.6           1.113          0.577          0              315            0              62
  42  Apple           -0.292         1.115          2.144          0              0              0              52
  43  Tomato          -0.908         1.087          2.817          0              0              0              52
  44  DishSponge      -0.908         1.047          1.920          0              0              0              52
  45  Spoon           -1.901         0.096          0.613          0              270            0              54
  46  Mug             -3.572         1.557          3.061          0              0              0              69
  47  StoveKnob       -3.322         1.053          0.709          45             0              0
  48  StoveBurner     -3.474         1.097          0.227          0              180            0
  49  Sink            -1.394         0.982          0.439          0              0              0
  50  StoveBurner     -3.474         1.097          0.479          0              180            0
  51  StoveKnob       -3.164         1.053          0.709          45             0              0
  52  DiningTable     -0.620         0.017          2.486          0              0              0
  53  Drawer          -2.043         0.608          0.594          0              0              0
  54  Drawer          -2.043         0.216          0.594          0              0              0
  55  Drawer          -2.498         0.216          0.594          0              0              0
  56  Cabinet         -1.001         0.393          0.734          0              0              0
  57  StoveBurner     -3.000         1.097          0.480          0              0              0
  58  StoveKnob       -3.492         1.053          0.709          45             0              0
  59  CounterTop      -3.856         1.160          0.379          0              0              0
  60  Drawer          -2.043         0.937          0.599          0              0              0
  61  Drawer          -2.509         0.937          0.599          0              0              0
  62  CounterTop      -2.280         1.160          0.379          0              0              0
  63  StoveKnob       -2.985         1.053          0.709          45             0              0
  64  CounterTop      -0.514         1.160          0.492          0              0              0
  65  Drawer          -2.498         0.608          0.594          0              0              0
  66  StoveBurner     -3.000         1.097          0.227          0              0              0
  67  Cabinet         -1.733         0.393          0.734          0              0              0
  68  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  69  Fridge          -3.519         0.0            2.717          0              90             0
  70  Window          -1.394         1.924          0.014          90             0              0
  71  Window          -3.266         1.924          0.014          90             0              0
  72  Toaster         -0.225         1.038          2.865          0              270            0
  73  GarbageCan      -3.696         0.002          2.008          0              0              0
  74  SinkBasin       -1.389         0.921          0.428          0              0              0
  75  Microwave       -0.366         1.113          0.430          0              0              0
  76  HousePlant      -2.155         1.101          0.169          0              332.897        0
  77  LightSwitch     -2.584         1.299          3.5            0              180            0
  78  Faucet          -1.393         1.373          0.168          0              270            0
  79  NorthWall
  80  SouthWall
  81  SouthWall

Plan:
STEP 1: turn right to face the wood table | STEP 2: pick up the knife behind the tomato on the table | STEP 3: face the tomato on the wood table | STEP 4: slice half of the tomato  | STEP 5: turn right to face the kitchen sink | STEP 6: place the knife on the left front edge of the sink | STEP 7: return to the wood table and look at the sliced tomato | STEP 8: pick up a slice of tomato on the wood table | STEP 9: go to the right of the table and face the microwave | STEP 10: place the tomato in the microwave and heat it for several seconds before removing it | STEP 11: face the sink next to the microwave on the counter | STEP 12: place the tomato on the counter in front of the sink, to the right of the knife | END