Task: Place a slice of tomato inside a plan on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          -1.0           0              270            0
   1  Potato          0.341          0.806          -1.745         0              270            0              73
   2  Pot             1.007          0.962          0.561          0              270            0              52
   3  Fork            1.724          0.912          0.540          0              0              0              65
   4  Fork            -0.359         0.912          -1.737         0              90             0              50
   5  Spoon           0.551          0.774          0.338          0              270            0              46
   6  Spoon           -0.196         0.773          -1.473         0              270            0              53
   7  Spatula         0.035          0.927          0.540          0              180            0              49
   8  Cup             -2.397         0.509          -1.677         0              0              0              80
   9  Plate           1.535          0.913          -1.489         0              0              0              50
  10  SoapBottle      0.701          0.918          -1.449         0              270            0              48
  11  SoapBottle      -0.268         1.327          -1.772         0              180            0              44
  12  Tomato          -0.359         0.961          -1.903         0              0              0              50
  13  Tomato          1.535          0.961          -1.820         0              0              0              50
  14  Bowl            0.455          0.108          -1.472         0              180            0              47
  15  PepperShaker    0.071          0.102          0.281          0              0              0              60
  16  PepperShaker    0.167          0.908          0.292          0              0              0              49
  17  Bread           1.846          0.995          0.458          0              0              0              65
  18  Mug             0.618          0.945          0.469          0              180            0              74
  19  Apple           -2.222         0.847          -1.720         0              0              0              80
  20  Apple           -1.959         0.847          -1.677         0              0              0              80
  21  Bread           1.781          0.995          -1.489         0              0              0              50
  22  Knife           0.960          0.944          -1.649         0              270            0              48
  23  Fork            -0.451         0.912          -1.571         0              0              0              50
  24  Bowl            0.209          0.108          -1.509         0              180            0              47
  25  Kettle          -0.055         0.9            0.643          0              0              0              49
  26  Cup             -1.872         0.509          -1.720         0              0              0              80
  27  Tomato          1.412          0.961          -1.820         0              0              0              50
  28  SoapBottle      0.328          0.108          0.233          0              0              0              61
  29  Plate           -0.110         0.900          -1.596         0              0              0              50
  30  Pot             1.361          0.962          0.561          0              270            0              55
  31  Spatula         0.701          0.934          -1.782         0              90             0              48
  32  PaperTowelRoll  -0.329         0.174          0.612          0              90             0              79
  33  Egg             0.447          0.811          -1.648         0              270            0              73
  34  Lettuce         0.851          1.001          -1.537         0              231.490        0              48
  35  SaltShaker      0.432          0.908          0.209          0              0              0              49
  36  PepperShaker    0.167          0.908          0.375          0              0              0              49
  37  Apple           -0.394         0.137          0.525          0              90             0              79
  38  ButterKnife     1.658          0.912          -1.654         0              0              0              50
  39  Potato          -0.096         0.942          0.375          0              0              0              49
  40  Pan             1.022          0.959          0.288          0              219.190        0              62
  41  DishSponge      0.564          0.911          0.292          0              0              0              49
  42  Spoon           -0.906         0.774          -1.538         0              90             0              63
  43  Mug             -0.975         1.010          -1.704         0              0              0              72
  44  Cabinet         -0.193         1.688          -1.648         0              180            0
  45  StoveBurner     1.360          0.957          0.293          0              180            0
  46  Drawer          0.499          0.792          0.296          0              0              0
  47  Cabinet         0.095          0.400          -1.352         0              180            0
  48  Sink            0.711          0.817          -1.772         0              270            0
  49  CounterTop      0.280          0.947          0.458          0              0              0
  50  CounterTop      -0.680         0.947          -1.654         0              0              0
  51  Drawer          1.825          0.792          0.296          0              0              0
  52  StoveBurner     1.007          0.957          0.561          0              270            0
  53  Drawer          -0.150         0.792          -1.496         0              0              0
  54  Drawer          -0.586         0.792          -1.496         0              0              0
  55  StoveBurner     1.360          0.957          0.561          0              270            0
  56  Drawer          0.024          0.792          0.296          0              0              0
  57  Cabinet         1.079          0.400          -1.349         0              180            0
  58  Cabinet         1.669          0.402          0.151          0              0              0
  59  Cabinet         0.055          0.402          -1.351         0              0              0
  60  Cabinet         -0.180         0.402          0.151          0              0              0
  61  Cabinet         0.729          0.402          0.151          0              0              0
  62  StoveBurner     1.007          0.957          0.293          0              180            0
  63  Drawer          -1.100         0.792          -1.496         0              0              0
  64  Cabinet         -0.396         0.402          -1.351         0              0              0
  65  CounterTop      1.776          0.947          0.458          0              0              0
  66  Cabinet         1.974          1.688          -1.648         0              180            0
  67  Cabinet         -0.820         0.400          -1.349         0              180            0
  68  Toaster         0.305          0.900          0.552          0              180            0
  69  LightSwitch     -2.756         1.307          -0.987         0              90             0
  70  Window          0.582          1.613          -1.967         90             0              0
  71  Window          1.969          1.5            -0.615         90             270            0
  72  Microwave       -1.037         0.900          -1.723         0              0              0
  73  SinkBasin       0.377          0.765          -1.655         0              270            0
  74  CoffeeMachine   0.618          0.900          0.600          0              180            0
  75  StoveKnob       1.246          0.913          0.118          45             180            0
  76  StoveKnob       1.373          0.913          0.118          45             180            0
  77  StoveKnob       0.995          0.913          0.118          45             180            0
  78  StoveKnob       1.126          0.913          0.118          45             180            0
  79  GarbageCan      -0.368         -0.029         0.539          0              90             0
  80  Fridge          -2.134         0.0            -1.690         0              0              0
  81  Faucet          0.549          1.046          -1.833         0              232.527        0
  82  Stool           -1.475         0.000          0.414          1.233          280.375        0
  83  DiningTable     -2.255         -0.004         0.432          0              0              0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn left and walk towards the window, then turn right.  | STEP 2: Walk towards the black table. | STEP 3: Pick up the knife behind the loaf of bread on the black table. | STEP 4: Slice the tomato behind the blue plate closest to the loaf of bread.  | STEP 5: Take the knife and turn towards the cabinet about the black table. | STEP 6: Place the knife inside the cabinet above the black table. | STEP 7: Pick up the slice of tomato, turn all the way around. | STEP 8: Walk towards the stove. | STEP 9: Place the tomato slice into the pan nearest coffee maker, | STEP 10: Pick up the pan with the tomato slice in it. | STEP 11: Turn left and walk towards the door. | STEP 12: Turn right in front of the white table. | STEP 13: Place the pan on the white table. | END