Task: put a pot with a tomato slice in it 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           -0.25          0.914          1.0            0              0              0
   1  Potato          -3.272         0.948          1.440          0              0              0              52
   2  ButterKnife     -2.804         0.915          3.998          0              0              0              43
   3  WineBottle      -2.905         0.916          4.214          0              0              0              43
   4  Fork            -2.402         0.916          3.890          0              0              0              43
   5  Fork            -3.272         0.916          3.172          0              90             0              43
   6  Pot             -3.424         0.966          2.374          0              0              0              49
   7  Egg             -1.729         0.824          3.811          0              0              0              73
   8  Egg             -1.449         0.950          3.675          0              0              0              43
   9  Cup             -1.921         0.789          3.774          0              0              0              73
  10  Knife           -1.408         0.939          3.890          0              90             0              43
  11  Knife           -3.097         0.768          1.356          0              90             0              44
  12  Tomato          -3.368         0.984          2.844          0              0              0              43
  13  Tomato          -3.654         0.984          1.273          0              0              0              52
  14  SaltShaker      -1.815         0.911          4.020          0              0              0              43
  15  PepperShaker    -3.126         0.743          3.027          0              0              0              45
  16  Bread           -3.505         1.627          2.068          0              90             0              74
  17  Mug             -1.793         0.784          3.625          0              0              0              73
  18  Apple           -0.440         1.333          4.062          0              180            0              69
  19  Apple           -3.176         0.975          3.008          0              0              0              43
  20  Egg             -2.503         0.950          3.783          0              0              0              43
  21  Knife           -3.126         0.768          1.510          0              270            0              44
  22  Fork            -1.666         0.790          3.662          0              90             0              73
  23  Bread           -3.559         0.997          1.524          0              0              0              52
  24  Potato          -3.537         1.578          2.224          0              90             0              74
  25  Plate           -3.006         0.904          3.677          0              0              0              43
  26  Pot             -3.424         0.966          1.971          0              0              0              51
  27  Kettle          -3.145         0.069          2.920          0              270            0              56
  28  WineBottle      -3.654         0.916          3.827          0              0              0              43
  29  Bowl            -0.790         0.985          3.926          0              180            0              69
  30  Tomato          -1.192         0.155          3.820          0              270            0              75
  31  Cup             -0.673         1.541          4.067          0              180            0              69
  32  Spatula         -3.463         0.930          1.106          0              90             0              52
  33  SoapBottle      -3.081         0.915          1.524          0              0              0              52
  34  Lettuce         -1.759         0.974          0.085          0              0              0              79
  35  Pan             -2.614         0.902          3.620          0              0              0              43
  36  Apple           -0.089         1.333          4.097          0              180            0              69
  37  SaltShaker      -3.559         0.912          1.106          0              0              0              52
  38  PepperShaker    -3.471         1.451          3.805          0              0              0              60
  39  ButterKnife     -1.840         0.779          3.674          0              0              0              73
  40  DishSponge      -2.511         0.080          3.547          0              0              0              54
  41  Spoon           -3.215         0.748          2.861          0              90             0              45
  42  Mug             -0.440         0.981          4.114          0              270            0              69
  43  CounterTop      -3.381         0.950          3.335          0              0              0
  44  Drawer          -3.121         0.775          1.357          0              0              0
  45  Drawer          -3.121         0.777          2.916          0              0              0
  46  StoveBurner     -3.148         0.958          2.374          0              0              0
  47  Sink            -1.797         0.917          3.660          0              0              0
  48  Cabinet         -1.421         0.388          3.459          0              0              0
  49  StoveBurner     -3.424         0.958          2.374          0              0              0
  50  Cabinet         -3.365         1.931          2.676          0              0              0
  51  StoveBurner     -3.424         0.958          1.971          0              0              0
  52  CounterTop      -3.381         0.951          1.356          0              0              0
  53  Drawer          -3.121         0.781          3.295          0              0              0
  54  Cabinet         -2.205         0.388          3.459          0              0              0
  55  Cabinet         -2.963         0.388          3.459          0              0              0
  56  Cabinet         -2.992         0.388          2.683          0              0              0
  57  Cabinet         -3.352         2.205          1.715          0              0              0
  58  Cabinet         -3.352         2.205          2.653          0              0              0
  59  Cabinet         -2.189         0.388          3.466          0              0              0
  60  Cabinet         -3.365         1.931          3.963          0              0              0
  61  Cabinet         -3.365         1.931          1.056          0              0              0
  62  Cabinet         -2.992         0.388          1.037          0              0              0
  63  StoveBurner     -3.143         0.958          1.971          0              0              0
  64  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  65  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  66  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  67  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  68  Toaster         -2.654         0.902          4.064          0              180            0
  69  Fridge          -0.439         0.014          3.996          0              0              0
  70  LightSwitch     0.25           1.383          2.085          0              270            0
  71  Window          -1.430         1.338          -0.347         90             0              0
  72  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  73  SinkBasin       -1.802         0.778          3.700          0              0              0
  74  Microwave       -3.484         1.430          2.182          0              90             0
  75  GarbageCan      -1.184         -0.020         3.794          0              270            0
  76  Blinds          -1.404         2.092          -0.296         0              0              0
  77  Stool           -1.373         0.014          1.048          1.214          20.754         0
  78  Faucet          -1.788         0.903          3.931          270            90             0
  79  DiningTable     -1.399         0.010          0.238          0              0              0
  80  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: walk to fridge, turn left, walk forward to counter, turn right to face toaster | STEP 2: pick up the knife that is on the counter | STEP 3: turn right, walk forward, turn left to face trash can | STEP 4: slice the tomato that is in the trash can | STEP 5: put the knife in the trash | STEP 6: pick up a slice of tomato that is in the trash | STEP 7: turn around, walk forward, turn right, walk to stove | STEP 8: put tomato slice in the pot on the stove | STEP 9: pick up the pot that is on the stove | STEP 10: turn around, walk to the wall, turn right, walk forward, turn right to face table | STEP 11: put the pot on the table | END