Task: Slice a tomato, cool a slice of tomato

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           0.900          2.25           0              180            0
   1  Potato          1.966          1.550          5.626          0              270            0              78
   2  Potato          0.620          1.027          0.120          0              0              0              56
   3  DishSponge      -0.443         0.759          6.851          0              135            0              92
   4  DishSponge      -0.029         0.759          6.172          0              135            0              92
   5  ButterKnife     1.493          0.992          3.324          0              0              0              56
   6  Kettle          1.32           0.988          3.848          0              0              0              55
   7  Fork            -0.549         0.771          0.563          0              0              0              52
   8  Fork            -0.221         0.760          6.632          0              90             0              92
   9  Plate           -0.611         0.993          0.212          0              0              0              56
  10  Tomato          0.257          0.809          6.719          0              225            0              92
  11  SoapBottle      1.455          1.576          4.815          0              180            0              60
  12  SoapBottle      1.322          0.140          2.867          0              180            0              68
  13  PepperShaker    1.657          0.135          2.646          0              0              0              68
  14  PepperShaker    -0.401         0.755          6.456          0              135            0              92
  15  SaltShaker      -0.334         0.755          6.742          0              135            0              92
  16  SaltShaker      0.028          0.755          6.787          0              0              0              92
  17  Bread           0.150          0.829          6.541          0              270            0              92
  18  Lettuce         -0.384         1.081          0.395          0              0              0              56
  19  Mug             2.009          1.510          5.876          0              270            0              78
  20  Apple           1.966          1.590          5.251          0              270            0              78
  21  Bowl            0.696          0.991          0.395          0              0              0              56
  22  Bread           1.099          1.048          0.434          0              0              0              56
  23  Egg             1.276          0.940          2.085          0              90             0              79
  24  Knife           -0.278         0.802          0.451          0              90             0              52
  25  Fork            0.260          0.772          0.507          0              0              0              53
  26  Apple           2.137          1.590          5.376          0              270            0              78
  27  Kettle          1.559          0.988          4.294          0              0              0              54
  28  Plate           0.674          0.144          0.576          0              0              0              62
  29  SaltShaker      0.440          1.574          0.119          0              0              0              70
  30  Lettuce         -0.467         0.848          6.604          0              270            0              92
  31  SoapBottle      1.135          0.992          4.670          0              0              0              57
  32  Spatula         1.442          0.905          1.931          0              0              0              79
  33  PaperTowelRoll  0.256          0.864          6.240          0              135            0              92
  34  Pot             1.317          0.988          4.294          0              0              0              51
  35  Potato          1.671          1.027          3.231          0              270            0              56
  36  ButterKnife     0.056          0.771          0.507          0              0              0              53
  37  PepperShaker    0.380          1.574          0.207          0              0              0              70
  38  Pan             1.313          0.985          4.284          0              0              0              51
  39  Tomato          0.058          0.809          6.261          0              135            0              92
  40  DishSponge      0.871          0.771          0.451          0              0              0              48
  41  Cup             -0.244         0.756          6.128          0              225            0              92
  42  Spoon           0.847          0.993          0.670          0              0              0              56
  43  Mug             1.384          1.043          0.847          0              270            0              56
  44  Cabinet         1.307          2.455          4.360          0              0              0
  45  Cabinet         1.054          0.422          1.710          0              0              0
  46  Drawer          1.280          0.808          4.718          0              0              0
  47  Cabinet         1.307          2.455          3.607          0              0              0
  48  Drawer          0.736          0.802          0.521          0              0              0
  49  Drawer          1.276          0.802          3.291          0              0              0
  50  StoveBurner     1.562          0.982          3.848          0              0              0
  51  StoveBurner     1.317          0.982          4.294          0              0              0
  52  Drawer          -0.482         0.802          0.521          0              0              0
  53  Drawer          0.124          0.802          0.521          0              0              0
  54  StoveBurner     1.559          0.982          4.294          0              0              0
  55  StoveBurner     1.320          0.982          3.848          0              0              0
  56  CounterTop      1.391          1.028          0.897          0              0              0
  57  CounterTop      1.391          1.028          4.716          0              0              0
  58  Cabinet         1.054          0.422          4.548          0              0              0
  59  Cabinet         1.317          2.134          0.517          0              0              0
  60  Cabinet         1.317          2.134          4.889          0              0              0
  61  Cabinet         1.317          2.134          3.095          0              0              0
  62  Cabinet         0.443          0.422          0.743          0              0              0
  63  Cabinet         1.270          2.134          0.434          0              0              0
  64  Cabinet         -0.775         0.422          0.743          0              0              0
  65  Cabinet         -0.168         0.422          0.743          0              0              0
  66  Cabinet         1.317          2.134          1.534          0              0              0
  67  Cabinet         1.054          0.422          2.990          0              0              0
  68  Cabinet         1.054          0.422          2.944          0              0              0
  69  Cabinet         -0.263         2.134          0.434          0              0              0
  70  Cabinet         0.252          2.134          0.434          0              0              0
  71  Sink            1.391          1.006          2.326          0              0              0
  72  Microwave       0.108          0.981          0.262          0              0              0
  73  HousePlant      -0.165         0.826          6.444          0              0              0
  74  CoffeeMachine   1.551          0.982          0.953          0              270            0
  75  Toaster         1.473          0.981          4.715          0              270            0
  76  Window          -2.065         1.916          3.626          90             90             0
  77  Window          1.763          2.007          2.299          90             270            0
  78  Fridge          2.035          0.0            5.625          0              0              0
  79  SinkBasin       1.387          0.880          2.338          0              90             0
  80  GarbageCan      2.001          -0.044         6.503          0              0              0
  81  StoveKnob       1.140          0.934          3.987          45             270            0
  82  StoveKnob       1.140          0.934          4.309          45             270            0
  83  StoveKnob       1.140          0.934          4.140          45             270            0
  84  StoveKnob       1.140          0.934          3.824          45             270            0
  85  Vase            -0.226         0.834          6.993          0              0              0
  86  Vase            2.098          0.043          7.070          0              257.232        0
  87  Vase            -0.594         0.835          6.130          0              225            0
  88  LightSwitch     -2.0           1.549          6.045          0              90             0
  89  Safe            2.046          1.072          7.054          0              257.232        0
  90  Faucet          1.534          1.025          2.371          0              294.391        0
  91  Blinds          1.738          2.563          2.312          0              90             0
  92  DiningTable     -0.156         0.000          6.474          0              0              0
  93  Chair           0.291          0.002          6.142          0              310.162        0
  94  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Turn around, go forward, turn right after the sink, go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left, go forward, turn left to the table | STEP 4: Slice the tomato on the table  | STEP 5: Move a bit  to the left | STEP 6: Put the knife on the table | STEP 7: Move a bit to the right | STEP 8: Pick up a tomato slice from the table  | STEP 9: Turn left, go to the fridge, turn left | STEP 10: Put the tomato slice in the fridge, wait, pick up the tomato slice from the fridge | STEP 11: Turn left, go forward, turn left at the table | STEP 12: Put the tomato slice on the table | END