Task: Slice a tomato and cool a slice of it

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              90             0
   1  Pan             1.026          1.640          1.158          0              90             0              89
   2  Vase            1.148          1.667          -0.465         0              270            0              75
   3  CreditCard      0.915          0.699          -0.648         0              270            0              64
   4  CreditCard      -0.550         0.930          -0.067         0              0              0              66
   5  CellPhone       -1.367         0.878          2.719          0              0              0              93
   6  CellPhone       -1.104         0.930          -1.430         0              0              0              66
   7  DishSponge      0.910          0.107          -1.972         0              0              0              71
   8  DishSponge      0.960          0.107          -2.132         0              0              0              71
   9  ButterKnife     -0.550         0.933          -1.618         0              0              0              66
  10  Glassbottle     1.240          1.667          -2.029         0              270            0              65
  11  Spoon           -0.753         0.781          -0.573         0              0              0              87
  12  Spoon           -0.642         0.781          -0.659         0              90             0              87
  13  Spatula         -0.642         0.791          -0.832         0              0              0              87
  14  Spatula         0.859          0.926          -0.555         0              0              0              67
  15  Knife           -1.104         0.957          -1.167         0              90             0              66
  16  Egg             -0.818         0.216          0.641          0              180            0              86
  17  Egg             -1.104         0.971          -0.905         0              0              0              66
  18  Cup             0.995          1.792          -1.132         0              270            0              88
  19  Cup             1.028          1.792          -1.339         0              270            0              88
  20  Plate           1.169          2.211          -1.082         0              270            0              73
  21  SoapBottle      0.688          0.911          0.139          0              0              0              67
  22  SoapBottle      -0.550         0.933          -1.231         0              0              0              66
  23  Bowl            -0.550         0.936          -0.067         0              0              0              66
  24  SaltShaker      1.147          1.662          0.280          0              270            0              74
  25  PepperShaker    1.169          2.204          -1.517         0              270            0              73
  26  PepperShaker    -1.881         0.550          2.667          0              0              0              92
  27  Lettuce         0.965          1.212          1.444          0              270            0              89
  28  Lettuce         -1.229         1.010          -0.118         0              0              0              66
  29  Mug             1.240          1.661          -1.893         0              0              0              65
  30  Apple           -0.753         0.826          -0.745         0              90             0              87
  31  Apple           -0.960         0.227          0.543          0              180            0              86
  32  Statue          -1.816         0.871          2.754          0              180            0              66
  33  Glassbottle     1.126          2.208          -1.408         0              270            0              73
  34  Bread           0.966          0.944          1.063          0              270            0              89
  35  CreditCard      -1.571         0.878          2.665          0              0              0              93
  36  CellPhone       -0.698         0.930          -0.143         0              90             0              66
  37  Potato          -0.865         0.209          0.543          0              270            0              86
  38  Knife           0.859          0.934          -0.729         0              0              0              67
  39  Fork            0.688          0.911          0.313          0              90             0              67
  40  Pan             1.077          0.950          -1.504         0              0              0              62
  41  Lettuce         -1.104         1.010          0.144          0              0              0              66
  42  Plate           0.859          0.914          -0.208         0              0              0              67
  43  Apple           0.944          0.961          -0.729         0              0              0              67
  44  Pot             1.077          0.950          -1.098         0              0              0              68
  45  Spatula         0.915          0.509          -0.690         0              0              0              70
  46  PaperTowelRoll  -0.624         1.037          -1.463         0              0              0              66
  47  Tomato          0.773          0.952          -1.793         0              0              0              72
  48  Egg             0.783          1.172          1.540          0              270            0              89
  49  SaltShaker      1.148          1.662          -1.961         0              270            0              65
  50  PepperShaker    -1.571         0.878          2.746          0              0              0              93
  51  Vase            0.688          0.911          -0.381         0              0              0              67
  52  ButterKnife     0.834          0.702          -0.648         0              270            0              64
  53  SoapBottle      -0.477         0.933          0.315          0              0              0              66
  54  Vase            0.811          0.109          -2.212         0              0              0              71
  55  Bowl            1.194          1.669          -2.166         0              270            0              65
  56  DishSponge      0.859          0.910          -0.034         0              0              0              67
  57  Spoon           0.834          0.495          -0.607         0              270            0              70
  58  Cup             -0.808         0.777          -0.918         0              90             0              87
  59  Mug             -1.363         0.549          2.770          0              0              0              92
  60  StoveBurner     0.842          0.919          -1.098         0              0              0
  61  Cabinet         0.648          0.474          0.244          0              270            0
  62  StoveBurner     1.077          0.919          -1.504         0              0              0
  63  StoveBurner     0.842          0.919          -1.504         0              0              0
  64  Drawer          0.637          0.755          -0.649         0              270            0
  65  Cabinet         0.949          2.159          -2.375         0              270            0
  66  CounterTop      -1.238         0.968          -0.643         0              0              0
  67  CounterTop      0.931          0.946          -0.208         0              0              0
  68  StoveBurner     1.077          0.919          -1.098         0              0              0
  69  Drawer          0.637          0.268          -0.649         0              270            0
  70  Drawer          0.637          0.547          -0.649         0              270            0
  71  Cabinet         0.648          0.475          -1.714         0              0              0
  72  CounterTop      0.931          0.946          -2.051         0              0              0
  73  Cabinet         0.948          2.439          -1.780         0              270            0
  74  Cabinet         0.948          2.159          -0.140         0              270            0
  75  Cabinet         0.949          2.159          -0.758         0              270            0
  76  Sink            -0.699         0.927          -0.649         0              0              0
  77  LightSwitch     -2.371         1.218          3.049          0              180            0
  78  StoveKnob       0.673          0.899          -1.373         315            90             180
  79  StoveKnob       0.673          0.899          -1.519         315            90             180
  80  StoveKnob       0.673          0.899          -1.086         315            90             180
  81  StoveKnob       0.673          0.899          -1.237         315            90             180
  82  Toaster         0.984          0.900          0.329          0              270            0
  83  Window          0.014          0.998          -2.640         90             0              0
  84  Window          -2.996         0.998          -2.640         90             0              0
  85  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  86  GarbageCan      -0.946         -0.036         0.575          0              180            0
  87  SinkBasin       -0.698         0.765          -0.647         0              90             0
  88  Microwave       1.042          1.680          -1.295         0              270            0
  89  Fridge          0.966          0.0            1.253          0              0              0
  90  HousePlant      -1.354         0.919          -1.540         0              0              0
  91  Shelf           -1.635         0.172          2.715          0              180            0
  92  Shelf           -1.635         0.552          2.715          0              180            0
  93  Shelf           -1.635         0.880          2.715          0              180            0
  94  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  95  Chair           -1.832         0.002          -0.034         0              119.999        0
  96  Chair           -1.854         0.002          -0.956         0              67.887         0
  97  Faucet          -0.867         1.161          -0.651         0              0              0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Go forward, turn right, go forward, turn left, turn left to the edge of the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn right and go to the counter to the right of the stove | STEP 4: Slice the tomato on the counter | STEP 5: Turn left and go to the fridge | STEP 6: Put the knife in the fridge | STEP 7: Turn right, go forward, turn left after the stove | STEP 8: Pick up a tomato slice from the counter | STEP 9: Turn left and go to the fridge | STEP 10: Put the tomato slice in the fridge, wait, pick up the tomato slice from the fridge | STEP 11: Turn right, go forward, turn left after the stove | STEP 12: Put the tomato slice on the counter | END