Task: place a cold tomato slice in the oven

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.901          -0.25          0              270            0
   1  DishSponge      1.884          0.746          1.991          0              0              0              64
   2  DishSponge      -0.358         0.036          -0.832         0              90             0              71
   3  Spoon           1.941          0.746          0.446          0              0              0              58
   4  Fork            -0.042         0.791          1.049          0              0              0              76
   5  Fork            1.917          0.938          0.361          0              0              0              60
   6  Egg             1.994          0.980          0.361          0              0              0              60
   7  Cup             -0.425         0.789          1.217          0              0              0              76
   8  Cup             -0.119         0.789          1.386          0              0              0              76
   9  SoapBottle      1.964          0.082          2.057          0              90             0              45
  10  SoapBottle      -0.041         0.082          1.925          0              0              0              43
  11  Tomato          0.033          0.837          0.377          0              0              0              76
  12  Bowl            1.925          0.078          2.199          0              0              0              45
  13  SaltShaker      2.320          1.496          2.010          0              270            0              52
  14  SaltShaker      -0.042         0.785          0.881          0              270            0              76
  15  PepperShaker    0.288          0.932          2.478          0              0              0              49
  16  Lettuce         2.056          1.383          -0.369         0              270            0              70
  17  Apple           -0.395         1.085          2.121          0              90             0              74
  18  Egg             -0.349         0.833          0.881          0              0              0              76
  19  Lettuce         2.122          0.664          -0.188         0              270            0              70
  20  Fork            0.682          0.795          2.64           0              0              0              73
  21  SoapBottle      0.708          0.082          2.523          0              0              0              56
  22  Ladle           0.002          0.790          2.197          0              270            0              48
  23  Ladle           2.206          1.545          2.425          0              0              0              42
  24  Bread           -0.199         0.823          0.813          0              0              0              76
  25  SaltShaker      0.033          0.785          0.881          0              0              0              76
  26  Potato          2.231          1.559          -0.550         0              270            0              70
  27  Pan             1.866          0.935          1.504          0              180            0              53
  28  WineBottle      2.280          1.504          0.448          0              0              0              47
  29  Spatula         1.790          0.952          2.434          0              0              0              49
  30  Knife           0.033          0.816          0.713          0              270            0              76
  31  Tomato          0.033          0.837          1.217          0              0              0              76
  32  Apple           0.033          0.840          1.049          0              0              0              76
  33  ButterKnife     -0.272         0.791          1.386          0              0              0              76
  34  Pot             0.174          0.937          2.757          0              0              0              49
  35  PepperShaker    2.165          1.498          0.358          0              0              0              47
  36  Cup             -0.395         1.034          2.014          0              90             0              74
  37  DishSponge      -0.425         0.790          0.713          0              0              0              76
  38  Plate           -0.312         0.781          0.409          0              0              0              76
  39  Spoon           -0.272         0.792          1.386          0              0              0              76
  40  Mug             2.064          0.989          2.462          0              225            0              75
  41  Bowl            2.076          1.515          -0.188         0              270            0              70
  42  Cabinet         2.041          2.113          2.618          0              0              0
  43  Cabinet         0.126          0.388          1.774          0              0              0
  44  StoveBurner     2.140          0.929          1.504          0              180            0
  45  Cabinet         1.760          0.388          2.346          0              0              0
  46  Cabinet         1.760          0.388          0.869          0              0              0
  47  Cabinet         2.041          1.810          0.283          0              0              0
  48  Drawer          -0.024         0.774          2.061          0              0              0
  49  CounterTop      1.065          0.973          2.666          0              0              0
  50  Cabinet         1.969          2.113          2.618          0              0              0
  51  StoveBurner     2.140          0.929          1.106          0              0              0
  52  Cabinet         2.041          2.113          1.809          0              0              0
  53  StoveBurner     1.866          0.929          1.504          0              180            0
  54  Cabinet         2.041          2.113          1.766          0              0              0
  55  Cabinet         1.514          0.388          2.360          0              0              0
  56  Cabinet         0.351          0.388          2.360          0              0              0
  57  Cabinet         2.041          1.810          0.872          0              0              0
  58  Drawer          2.167          0.774          0.582          0              0              0
  59  Cabinet         2.041          2.113          0.892          0              0              0
  60  CounterTop      2.060          0.973          0.583          0              0              0
  61  Sink            0.935          0.936          2.646          0              0              0
  62  Curtains        0.964          2.061          2.989          0              0              0
  63  StoveBurner     1.863          0.929          1.106          0              0              0
  64  Drawer          1.911          0.774          2.060          0              0              0
  65  StoveKnob       2.326          1.092          1.610          288.013        90             0
  66  StoveKnob       2.326          1.092          1.460          288.013        90             0
  67  StoveKnob       2.326          1.092          1.210          288.013        90             0
  68  StoveKnob       2.326          1.092          1.050          288.013        90             0
  69  Toaster         2.126          0.926          0.572          0              270            0
  70  Fridge          2.104          0.0            -0.279         0              270            0
  71  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  72  LightSwitch     0.354          1.518          -1.031         0              0              0
  73  SinkBasin       0.903          0.784          2.640          0              0              0
  74  Microwave       -0.310         0.926          2.077          0              90             0
  75  CoffeeMachine   2.084          0.927          2.667          0              225            0
  76  DiningTable     -0.153         -0.000         1.073          0              270            0
  77  Faucet          1.175          0.926          2.950          270            90             0
  78  Faucet          0.686          0.926          2.950          270            90             0
  79  Chair           -0.077         0.002          0.196          0              15.000         0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: move straight to the table | STEP 2: pick up the knife  | STEP 3: move left to the tomato | STEP 4: slice the tomato on the table | STEP 5: turn around to the fridge | STEP 6: drop the knife in the fridge | STEP 7: turn around to the table | STEP 8: pick up a slice from the table | STEP 9: turn around to the fridge | STEP 10: place the tomato to cool and take it out | STEP 11: turn left and head to the oven | STEP 12: place the tomato in the oven  | END