Task: put a heated slice tomato on top of 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          2.0            0              0              0
   1  SprayBottle     -1.325         2.152          0.650          0              0              0              75
   2  SprayBottle     -1.135         0.911          -0.817         0              0              0              82
   3  DishSponge      1.450          0.885          2.153          0              0              0              108
   4  DishSponge      -1.012         0.749          2.644          0              0              0              57
   5  ButterKnife     -0.503         0.912          -0.509         0              0              0              82
   6  ButterKnife     -1.383         0.749          2.830          0              0              0              57
   7  Glassbottle     -1.099         0.342          0.778          0              90             0              96
   8  Glassbottle     -1.294         2.154          1.262          0              0              0              74
   9  WineBottle      1.245          0.087          1.472          0              0              0              97
  10  WineBottle      1.444          0.912          0.706          0              0              0              76
  11  Kettle          1.128          0.912          -0.428         0              0              0              76
  12  Spatula         1.365          0.926          0.422          0              0              0              76
  13  Pot             0.502          0.939          -0.740         0              90             0              83
  14  Egg             -1.149         1.455          0.778          0              90             0              96
  15  Egg             -1.329         1.049          -0.057         0              90             0              102
  16  Cup             1.450          0.885          2.584          0              0              0              108
  17  Plate           1.174          0.117          -0.011         0              0              0              70
  18  Plate           1.207          0.912          0.706          0              0              0              76
  19  Knife           0.054          0.934          -0.371         0              0              0              82
  20  Tomato          -1.263         0.800          1.302          0              90             0              96
  21  Tomato          1.128          0.961          0.422          0              0              0              76
  22  SoapBottle      -0.919         0.750          2.459          0              0              0              57
  23  Bowl            -1.325         1.654          0.222          0              0              0              96
  24  Bowl            1.367          0.884          2.369          0              0              0              108
  25  Bread           -1.383         0.813          2.459          0              0              0              57
  26  SaltShaker      0.726          2.151          -0.724         0              0              0              60
  27  PepperShaker    -1.357         1.652          -0.443         0              0              0              63
  28  Mug             0.041          0.753          -0.691         0              0              0              103
  29  Mug             -0.082         0.753          -0.533         0              0              0              103
  30  Apple           -0.919         0.809          2.273          0              0              0              57
  31  Bread           1.069          0.935          2.683          0              0              0              108
  32  Glassbottle     -1.263         0.751          0.883          0              90             0              96
  33  Fork            -1.123         0.912          -0.430         0              0              0              82
  34  Kettle          1.444          0.912          -0.144         0              0              0              76
  35  Tomato          -1.378         1.470          0.987          0              90             0              96
  36  Plate           -1.012         0.749          2.087          0              0              0              57
  37  CellPhone       -1.475         0.747          1.902          0              0              0              57
  38  Lettuce         -1.383         0.820          2.087          0              0              0              57
  39  Pot             0.802          0.939          -0.740         0              90             0              85
  40  SoapBottle      1.356          1.657          -0.393         0              0              0              58
  41  WineBottle      -1.099         0.342          1.302          0              90             0              96
  42  Spatula         1.117          0.901          2.153          0              0              0              108
  43  Bowl            -0.170         0.115          -0.533         0              0              0              72
  44  Apple           -0.658         0.972          -0.430         0              0              0              82
  45  Cup             1.523          0.910          -0.428         0              0              0              76
  46  Knife           -0.968         0.934          -0.828         0              90             0              82
  47  Egg             0.041          0.792          -0.612         0              0              0              103
  48  SaltShaker      -1.264         0.113          0.289          0              180            0              79
  49  PepperShaker    1.200          0.882          2.584          0              0              0              108
  50  Potato          1.034          0.931          2.369          0              0              0              108
  51  ButterKnife     -1.012         0.748          2.459          0              0              0              57
  52  DishSponge      -1.383         0.748          3.015          0              0              0              57
  53  Pan             -1.320         1.287          0.778          0              180            0              96
  54  Spoon           0.103          0.759          -0.651         0              180            0              103
  55  SprayBottle     -0.813         0.911          -0.669         0              0              0              82
  56  Mug             -1.329         1.010          0.046          0              90             0              102
  57  DiningTable     -1.182         0.006          2.414          0              90             0
  58  Cabinet         1.184          2.059          0.375          0              0              0
  59  Cabinet         1.184          2.059          -0.635         0              0              0
  60  Cabinet         0.591          2.309          -0.645         0              0              0
  61  Cabinet         -0.574         2.059          -0.644         0              0              0
  62  Cabinet         -1.103         2.059          -0.644         0              0              0
  63  Cabinet         -1.185         2.059          -0.331         0              0              0
  64  Cabinet         -1.185         2.059          -0.281         0              0              0
  65  Cabinet         -1.185         2.059          0.375          0              0              0
  66  Cabinet         1.184          2.309          1.174          0              0              0
  67  Cabinet         1.184          2.309          0.424          0              0              0
  68  Cabinet         0.988          0.402          0.581          0              0              0
  69  Cabinet         0.988          0.402          0.531          0              0              0
  70  Cabinet         0.988          0.402          -0.178         0              0              0
  71  Cabinet         0.335          0.402          -0.348         0              0              0
  72  Cabinet         -0.374         0.402          -0.348         0              0              0
  73  Cabinet         0.988          0.402          1.231          0              0              0
  74  Cabinet         -1.185         2.309          1.374          0              0              0
  75  Cabinet         -1.185         2.309          0.424          0              0              0
  76  CounterTop      1.274          0.947          0.064          0              0              0
  77  Drawer          1.116          0.792          -0.015         0              0              0
  78  Drawer          -1.116         0.792          0.210          0              180            0
  79  Cabinet         -0.990         0.402          0.374          0              180            0
  80  Drawer          -1.116         0.792          -0.170         0              180            0
  81  Cabinet         -0.990         0.402          -0.335         0              180            0
  82  CounterTop      -1.001         0.947          -0.669         0              0              0
  83  StoveBurner     0.502          0.932          -0.740         0              90             0
  84  StoveBurner     0.801          0.932          -0.473         0              0              0
  85  StoveBurner     0.801          0.932          -0.740         0              90             0
  86  Drawer          1.116          0.792          1.081          0              0              0
  87  Sink            -0.013         0.912          -0.615         0              0              0
  88  Drawer          1.116          0.792          0.732          0              0              0
  89  StoveBurner     0.502          0.932          -0.469         0              0              0
  90  Drawer          1.116          0.792          0.367          0              0              0
  91  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  92  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  93  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  94  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  95  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  96  Fridge          -1.300         0.008          0.987          0              90             0
  97  GarbageCan      1.296          -0.024         1.465          0              0              0
  98  Window          -0.012         1.641          -0.972         90             0              0
  99  Window          1.598          1.646          2.489          90             270            0
 100  Toaster         1.356          0.900          1.044          0              270            0
 101  LightSwitch     0.118          1.353          3.799          0              180            0
 102  Microwave       -1.343         0.900          0.053          0              90             0
 103  SinkBasin       -0.029         0.748          -0.612         0              0              0
 104  Faucet          -0.026         0.927          -0.808         0              0              0
 105  Shelf           -1.182         0.127          2.414          0              90             0
 106  Stool           1.140          0.007          3.262          1.206          20.753         0
 107  Shelf           -1.182         0.435          2.414          0              90             0
 108  DiningTable     1.169          0.014          2.569          0              0              1.896
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

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