Task: Cook 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           -2.5           0.900          -1.75          0              180            0
   1  Statue          -1.355         0.936          -0.643         0              0              0              57
   2  Statue          1.114          0.914          -0.208         0              0              0              58
   3  Potato          -0.808         0.807          -0.745         0              90             0              78
   4  CreditCard      0.688          0.908          -1.965         0              0              0              63
   5  CreditCard      0.754          0.699          -0.565         0              270            0              55
   6  DishSponge      0.754          0.494          -0.690         0              270            0              61
   7  Glassbottle     1.194          1.667          -0.529         0              270            0              66
   8  Fork            0.834          0.495          -0.607         0              270            0              61
   9  Fork            0.944          0.911          -0.555         0              0              0              58
  10  Spatula         0.914          0.168          -0.611         0              0              0              60
  11  Knife           -0.624         0.957          0.009          0              180            0              57
  12  Cup             -1.674         0.551          2.874          0              0              0              83
  13  Cup             1.256          2.205          -1.408         0              270            0              64
  14  Tomato          0.688          0.952          -2.051         0              0              0              63
  15  Tomato          -0.550         0.974          -1.308         0              0              0              57
  16  Tomato          1.029          0.952          -0.034         0              0              0              58
  17  SoapBottle      1.199          0.911          -0.034         0              0              0              58
  18  SoapBottle      0.859          0.911          -0.381         0              0              0              58
  19  SaltShaker      1.199          0.907          -0.381         0              0              0              58
  20  SaltShaker      1.147          1.662          0.025          0              270            0              65
  21  Apple           -0.960         0.227          0.576          0              180            0              77
  22  Apple           0.773          0.961          -0.729         0              0              0              58
  23  Statue          -1.816         0.871          2.754          0              180            0              57
  24  Glassbottle     -1.571         0.882          2.746          0              0              0              84
  25  Bread           -0.846         1.014          -1.540         0              0              0              57
  26  CreditCard      0.915          0.492          -0.690         0              270            0              61
  27  CellPhone       0.834          0.700          -0.690         0              270            0              55
  28  Potato          -0.642         0.810          -0.659         0              90             0              78
  29  Knife           -0.698         0.803          -0.745         0              90             0              78
  30  Fork            0.874          0.154          -0.769         0              0              0              60
  31  Pan             0.966          0.860          1.063          0              180            0              80
  32  Lettuce         -1.229         1.010          -0.905         0              0              0              57
  33  Plate           0.861          0.111          -1.892         0              0              0              62
  34  Apple           0.859          0.961          -1.793         0              0              0              63
  35  Pot             1.077          0.950          -1.504         0              0              0              53
  36  Spatula         0.754          0.718          -0.648         0              180            0              55
  37  PaperTowelRoll  -0.818         0.283          0.543          0              270            0              77
  38  Tomato          -0.772         0.974          -1.231         0              0              0              57
  39  Egg             -0.753         0.814          -0.573         0              90             0              78
  40  SaltShaker      0.834          0.699          -0.524         0              270            0              55
  41  PepperShaker    1.212          2.204          -1.626         0              270            0              64
  42  Vase            -1.423         0.169          2.621          0              0              0              83
  43  ButterKnife     -0.846         0.933          -1.154         0              0              0              57
  44  SoapBottle      0.910          0.108          -2.292         0              0              0              62
  45  Vase            -1.985         0.555          2.615          0              0              0              83
  46  Bowl            0.905          1.405          1.540          0              270            0              80
  47  DishSponge      1.101          1.665          -2.029         0              270            0              56
  48  Spoon           -1.241         0.919          -1.209         0              0              0              57
  49  Cup             -1.363         0.551          2.718          0              0              0              83
  50  Mug             0.903          0.942          -2.110         0              300.131        0              76
  51  StoveBurner     0.842          0.919          -1.098         0              0              0
  52  Cabinet         0.648          0.474          0.244          0              270            0
  53  StoveBurner     1.077          0.919          -1.504         0              0              0
  54  StoveBurner     0.842          0.919          -1.504         0              0              0
  55  Drawer          0.637          0.755          -0.649         0              270            0
  56  Cabinet         0.949          2.159          -2.375         0              270            0
  57  CounterTop      -1.238         0.968          -0.643         0              0              0
  58  CounterTop      0.931          0.946          -0.208         0              0              0
  59  StoveBurner     1.077          0.919          -1.098         0              0              0
  60  Drawer          0.637          0.268          -0.649         0              270            0
  61  Drawer          0.637          0.547          -0.649         0              270            0
  62  Cabinet         0.648          0.475          -1.714         0              0              0
  63  CounterTop      0.931          0.946          -2.051         0              0              0
  64  Cabinet         0.948          2.439          -1.780         0              270            0
  65  Cabinet         0.948          2.159          -0.140         0              270            0
  66  Cabinet         0.949          2.159          -0.758         0              270            0
  67  Sink            -0.699         0.927          -0.649         0              0              0
  68  LightSwitch     -2.371         1.218          3.049          0              180            0
  69  StoveKnob       0.673          0.899          -1.373         315            90             180
  70  StoveKnob       0.673          0.899          -1.519         315            90             180
  71  StoveKnob       0.673          0.899          -1.086         315            90             180
  72  StoveKnob       0.673          0.899          -1.237         315            90             180
  73  Toaster         0.984          0.900          0.329          0              270            0
  74  Window          0.014          0.998          -2.640         90             0              0
  75  Window          -2.996         0.998          -2.640         90             0              0
  76  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  77  GarbageCan      -0.946         -0.036         0.575          0              180            0
  78  SinkBasin       -0.698         0.765          -0.647         0              90             0
  79  Microwave       1.042          1.680          -1.295         0              270            0
  80  Fridge          0.966          0.0            1.253          0              0              0
  81  HousePlant      -1.354         0.919          -1.540         0              0              0
  82  Shelf           -1.635         0.172          2.715          0              180            0
  83  Shelf           -1.635         0.552          2.715          0              180            0
  84  Shelf           -1.635         0.880          2.715          0              180            0
  85  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  86  Chair           -1.832         0.002          -0.034         0              119.999        0
  87  Chair           -1.854         0.002          -0.956         0              67.887         0
  88  Faucet          -0.867         1.161          -0.651         0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

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