Task: Slice a tomato, wash a slice and put it into the microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.930          0.25           0              90             0
   1  Ladle           -0.991         0.555          1.343          0              90             0              48
   2  Ladle           -0.146         0.937          -1.589         0              135            0              81
   3  DishSponge      -0.684         0.133          -0.753         0              45             0              86
   4  Glassbottle     1.098          0.911          0.322          0              0              0              91
   5  Kettle          -0.420         0.902          -0.920         0              135            0              55
   6  Spatula         -0.786         0.146          -0.011         0              90             0              80
   7  Spoon           3.111          0.748          0.231          0              0              0              105
   8  Spoon           0.054          0.901          -1.481         0              45             0              81
   9  Fork            3.373          0.901          -0.151         0              90             0              59
  10  CellPhone       -1.153         0.897          0.623          0              0              0              64
  11  CellPhone       3.335          0.898          0.360          0              0              0              82
  12  Bread           -1.008         0.979          -0.047         0              0              0              60
  13  SaltShaker      -0.637         0.324          -0.752         0              45             0              93
  14  Bowl            -0.862         0.897          0.399          0              0              0              60
  15  SoapBottle      2.915          0.186          0.770          0              0              0              69
  16  SoapBottle      -0.249         1.272          -1.485         0              45             0              77
  17  Egg             -1.119         1.050          1.205          0              90             0              108
  18  Egg             -1.052         1.050          1.311          0              90             0              108
  19  Cup             -0.752         0.898          -0.776         0              45             0              60
  20  Plate           0.808          1.687          -1.619         0              0              0              75
  21  Plate           0.661          0.923          0.176          0              36.810         0              91
  22  Glassbottle     3.028          0.177          0.700          0              0              0              69
  23  SoapBottle      3.128          0.110          1.653          0              225            0              101
  24  Potato          0.258          0.938          -1.373         0              0              0              81
  25  Fork            -0.991         0.326          1.518          0              90             0              95
  26  Ladle           0.725          0.945          0.494          0              36.810         0              91
  27  Pot             0.423          0.900          0.869          0              0              0              91
  28  Kettle          1.098          0.909          0.605          0              0              0              91
  29  Spatula         -0.909         0.341          1.518          0              90             0              95
  30  Knife           0.710          0.933          0.827          0              0              0              91
  31  Lettuce         -0.239         0.965          -1.496         0              225            0              81
  32  Cup             0.851          1.245          -1.503         0              0              0              106
  33  SaltShaker      0.204          1.256          -1.707         0              0              0              76
  34  Egg             -1.018         1.050          1.523          0              90             0              108
  35  PepperShaker    1.351          1.671          -1.341         0              0              0              51
  36  ButterKnife     -0.868         0.518          1.255          0              0              0              48
  37  Apple           0.356          0.984          0.326          0              0              0              91
  38  Pan             -0.239         0.902          -1.089         0              315            0              89
  39  Bread           1.534          0.972          0.486          0              289.287        0              91
  40  CellPhone       -0.909         0.128          -0.011         0              0              0              80
  41  DishSponge      -0.935         0.899          0.846          0              0              0              60
  42  Tomato          0.836          0.945          0.038          0              0              0              91
  43  Spoon           -0.868         0.327          0.664          0              0              0              61
  44  Bowl            3.249          1.461          -1.697         0              0              0              58
  45  Mug             3.049          0.966          0.591          0              270            0              103
  46  Drawer          0.376          0.572          -1.509         0              0              0
  47  Drawer          3.020          0.769          -0.783         0              180            0
  48  Drawer          -0.860         0.577          1.429          0              0              0
  49  StoveBurner     -0.600         0.897          -1.090         0              135            0
  50  Drawer          0.376          0.191          -1.509         0              0              0
  51  Cabinet         1.402          1.874          -1.259         0              0              0
  52  Cabinet         -0.202         1.963          -1.328         0              0              0
  53  Drawer          -0.860         0.765          1.429          0              0              0
  54  Drawer          -0.677         0.765          -0.700         0              0              0
  55  StoveBurner     -0.420         0.897          -0.920         0              135            0
  56  Drawer          3.020          0.769          -0.407         0              180            0
  57  Drawer          -0.860         0.577          0.663          0              0              0
  58  Cabinet         2.819          1.768          -1.850         0              0              0
  59  CounterTop      3.111          0.936          0.019          0              0              0
  60  CounterTop      -1.007         0.935          -0.039         0              0              0
  61  Drawer          -0.860         0.385          0.663          0              0              0
  62  StoveBurner     -0.419         0.897          -1.269         0              315            0
  63  Drawer          -0.047         0.573          -1.324         0              0              0
  64  Drawer          -0.860         0.765          0.663          0              0              0
  65  Drawer          -0.860         0.385          -0.100         0              0              0
  66  Drawer          0.376          0.380          -1.509         0              0              0
  67  Drawer          -0.860         0.765          -0.100         0              0              0
  68  Drawer          0.376          0.765          -1.509         0              0              0
  69  Cabinet         2.849          0.419          0.409          0              0              0
  70  Drawer          -0.047         0.765          -1.324         0              0              0
  71  Cabinet         2.849          0.419          -0.610         0              0              0
  72  Cabinet         2.849          0.419          -0.959         0              0              0
  73  Cabinet         3.069          1.666          -0.709         0              0              0
  74  Cabinet         2.819          1.768          -1.047         0              0              0
  75  Cabinet         0.620          1.874          -1.259         0              0              0
  76  Cabinet         0.140          1.666          -1.559         0              0              0
  77  Cabinet         -0.189         1.666          -1.340         0              0              0
  78  Cabinet         -0.709         1.963          -0.819         0              0              0
  79  Cabinet         -0.920         1.665          -0.620         0              0              0
  80  Drawer          -0.860         0.190          -0.100         0              0              0
  81  CounterTop      0.133          0.935          -1.457         0              0              0
  82  Drawer          3.020          0.769          0.695          0              180            0
  83  Drawer          -0.677         0.577          -0.700         0              0              0
  84  Drawer          -0.860         0.190          1.429          0              0              0
  85  Drawer          -0.047         0.192          -1.324         0              0              0
  86  Drawer          -0.677         0.193          -0.700         0              0              0
  87  Drawer          -0.860         0.577          -0.100         0              0              0
  88  Sink            3.078          0.887          0.086          0              0              0
  89  StoveBurner     -0.239         0.897          -1.089         0              315            0
  90  Drawer          -0.860         0.190          0.663          0              0              0
  91  CounterTop      1.210          0.937          0.463          0              0              0
  92  Drawer          -0.047         0.381          -1.324         0              0              0
  93  Drawer          -0.677         0.387          -0.700         0              0              0
  94  Mirror          -1.295         1.630          0.045          0              0              0
  95  Drawer          -0.860         0.385          1.429          0              0              0
  96  HousePlant      3.196          0.891          -0.368         0              0              0
  97  StoveKnob       -0.090         0.790          -1.009         270            45             0
  98  StoveKnob       -0.280         0.790          -0.819         270            45             0
  99  StoveKnob       -0.180         0.790          -0.920         270            45             0
 100  StoveKnob       -0.370         0.790          -0.720         270            45             0
 101  GarbageCan      3.137          0.025          1.545          0              225            0
 102  Window          3.703          1.675          0.046          90             90             0
 103  CoffeeMachine   3.214          0.890          0.697          0              270            0
 104  LightSwitch     2.592          1.309          -1.880         0              0              0
 105  SinkBasin       3.069          0.736          0.108          0              90             0
 106  Fridge          1.008          0.029          -1.467         0              0              0
 107  Toaster         -1.035         0.873          -0.396         0              90             0
 108  Microwave       -1.034         0.874          1.428          0              90             0
 109  Faucet          3.305          0.886          0.094          270            180            0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Move a bit to the left and go to the table | STEP 2: Pick up the knife on the table | STEP 3: Move around the table to the right side of the table | STEP 4: Slice the tomato on the table | STEP 5: Turn right, go forward, turn left, go forward, turn right at the sink | STEP 6: Put the knife into the sink | STEP 7: Turn right,go forward a bit, turn right and go to the table | STEP 8: Pick up a tomato slice from the table | STEP 9: Turn right, go forward, turn left, go forward, turn right at the sink | STEP 10: Put the tomato slice in the sink, wash the lettuce slice with water, pick up the tomato slice from the sink | STEP 11: Turn right, go forward, go around the table, turn left at the microwave | STEP 12: Put the tomato slice in the microwave | END