Task: place a cooked tomato slice on the shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          -1.5           0              270            0
   1  Potato          -0.397         1.520          -0.762         0              270            0              73
   2  Potato          -0.234         1.607          -1.884         0              270            0              75
   3  DishSponge      -0.585         0.813          -3.512         0              315            0              72
   4  ButterKnife     -3.429         0.760          -3.572         0              334.125        0              79
   5  Fork            -3.721         0.760          -3.611         0              19.125         0              79
   6  Spatula         -0.236         0.956          -1.494         0              0              0              61
   7  Egg             -0.334         1.327          -0.297         0              270            0              73
   8  Egg             -0.701         0.854          -3.627         0              315            0              72
   9  Plate           -3.952         0.774          -3.342         0              244.125        0              79
  10  Knife           -4.062         0.716          -0.430         0              0              0              78
  11  SoapBottle      -4.062         0.688          -0.187         0              90             0              78
  12  Tomato          -1.034         0.993          -3.878         0              45             0              43
  13  Tomato          -4.242         0.741          -0.430         0              0              0              78
  14  Tomato          -2.560         0.945          -0.376         0              270            0              80
  15  Bread           -3.364         0.976          -0.633         0              270            0              80
  16  Bread           -3.364         0.976          -0.376         0              270            0              80
  17  Lettuce         -3.713         0.851          -3.778         0              199.125        0              79
  18  SaltShaker      -0.251         1.498          -3.052         0              0              0              55
  19  SaltShaker      -3.565         0.890          -0.376         0              270            0              80
  20  PepperShaker    -1.123         0.749          -3.447         0              0              0              49
  21  PepperShaker    -3.699         0.756          -3.016         0              334.125        0              79
  22  SoapBottle      -2.387         0.097          -3.571         0              0              0              68
  23  Pot             -0.222         0.961          -1.845         0              180            0              45
  24  Fork            -2.359         0.895          -0.376         0              270            0              80
  25  Cup             -0.457         1.504          -3.631         0              45             0              55
  26  Tomato          -4.242         0.741          -0.187         0              0              0              78
  27  Pan             -0.334         1.284          -0.646         0              0              0              73
  28  Plate           -0.283         1.502          -0.413         0              270            0              73
  29  Bread           -2.984         0.956          -0.311         0              50.592         0              80
  30  Spatula         -1.694         0.957          -3.595         0              90             0              43
  31  Knife           -3.535         0.785          -3.140         0              334.125        0              79
  32  SaltShaker      -4.122         0.687          -0.126         0              0              0              78
  33  PepperShaker    -0.406         0.748          -2.685         0              0              0              48
  34  ButterKnife     -0.547         0.813          -3.318         0              315            0              72
  35  Apple           -0.911         1.003          -3.755         0              45             0              43
  36  DishSponge      -0.549         0.941          -2.788         0              0              0              43
  37  Potato          -2.761         0.926          -0.376         0              270            0              80
  38  Egg             -3.142         0.801          -3.354         0              109.125        0              79
  39  Spoon           -0.475         0.752          -2.632         0              270            0              48
  40  Lettuce         -4.002         0.781          -0.430         0              0              0              78
  41  Mug             -0.236         0.936          -1.406         0              0              0              61
  42  Bowl            -0.473         0.939          -1.362         0              0              0              61
  43  CounterTop      -1.937         0.977          -3.673         0              0              0
  44  StoveBurner     -0.437         0.924          -1.845         0              180            0
  45  StoveBurner     -0.222         0.924          -1.845         0              180            0
  46  StoveBurner     -0.437         0.924          -2.243         0              0              0
  47  Drawer          -0.500         0.779          -1.450         0              0              0
  48  Drawer          -0.481         0.777          -2.739         0              0              0
  49  Drawer          -1.154         0.782          -3.499         0              0              0
  50  Cabinet         -0.337         2.110          -0.390         0              0              0
  51  Cabinet         -0.337         2.110          -1.272         0              0              0
  52  Cabinet         -0.337         2.110          -1.631         0              0              0
  53  Cabinet         -0.337         2.110          -2.497         0              0              0
  54  Cabinet         -0.337         1.891          -1.286         0              0              0
  55  Cabinet         -0.346         1.891          -3.293         0              0              0
  56  Cabinet         -0.629         0.388          -2.513         0              0              0
  57  Cabinet         -0.633         0.388          -3.008         0              0              0
  58  Cabinet         -1.010         0.388          -3.368         0              0              0
  59  Cabinet         -0.629         0.388          -1.614         0              0              0
  60  Cabinet         -0.327         1.886          -2.513         0              0              0
  61  CounterTop      -0.326         0.976          -1.450         0              0              0
  62  StoveBurner     -0.222         0.924          -2.243         0              0              0
  63  Sink            -0.600         0.929          -3.388         0              0              0
  64  StoveKnob       -0.617         0.899          -1.833         315            90             180
  65  StoveKnob       -0.617         0.899          -2.129         315            90             180
  66  StoveKnob       -0.617         0.899          -2.289         315            90             180
  67  StoveKnob       -0.617         0.899          -1.975         315            90             180
  68  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  69  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  70  Window          -1.389         1.610          -4.113         90             0              0
  71  LightSwitch     -4.372         1.493          -1.031         0              90             0
  72  SinkBasin       -0.614         0.802          -3.384         0              315            0
  73  Fridge          -0.314         0.0            -0.646         0              0              0
  74  Toaster         -1.970         0.930          -3.763         0              0              0
  75  Microwave       -0.216         1.470          -2.054         0              270            0
  76  Blinds          -1.373         2.205          -3.961         0              0              0
  77  Faucet          -0.393         0.930          -3.614         270            225            0
  78  SideTable       -4.030         0.002          -0.301         0              185.034        0
  79  DiningTable     -3.586         0.000          -3.258         0              0              0
  80  DiningTable     -3.224         -0.003         -0.453         0              0              0
  81  Shelf           -4.030         0.259          -0.301         0              185.034        0
  82  Shelf           -4.030         0.489          -0.301         0              185.034        0
  83  EastWall
  84  EastWall
  85  SouthWall

Plan:
STEP 1: move left to the table | STEP 2: pick up the knife | STEP 3: turn around to the sink | STEP 4: slice the tomato on the sink | STEP 5: turn around to the shelf  | STEP 6: drop the knife on the shelf | STEP 7: turn around to the sink | STEP 8: pick up the tomato slice | STEP 9: turn around to the oven | STEP 10: cook the tomato in it | STEP 11: turn around to the shelf  | STEP 12: drop the cooked tomato on it | END