Task: Place a washed tomato slice 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           1.124          0.5            0              270            0
   1  Potato          0.933          1.985          1.847          0              270            0              68
   2  Potato          -1.634         0.319          2.275          0              270            0              70
   3  DishSponge      -1.363         1.322          -1.035         0              0              0              55
   4  WineBottle      0.492          1.323          -3.343         0              0              0              55
   5  WineBottle      -1.381         1.323          -0.332         0              0              0              55
   6  Kettle          -0.630         1.331          -3.301         0              180            0              52
   7  Kettle          -1.818         0.344          1.110          0              0              0              56
   8  Fork            0.636          1.323          -3.164         0              0              0              55
   9  Fork            1.155          1.323          -2.053         0              0              0              55
  10  Spoon           -2.004         1.337          -1.117         0              180            0              62
  11  Spatula         -1.737         1.345          -1.049         0              0              0              62
  12  Spatula         -2.049         1.337          -2.461         0              0              0              55
  13  Pot             1.025          1.329          -2.424         0              0              0              55
  14  Pot             -1.817         0.350          0.412          0              0              0              53
  15  Knife           -2.049         1.352          1.094          0              0              0              55
  16  Tomato          -2.049         1.356          0.445          0              0              0              55
  17  Bowl            1.017          1.755          2.230          0              270            0              68
  18  Bowl            0.869          1.522          1.724          0              270            0              68
  19  PepperShaker    -2.179         1.318          -1.681         0              0              0              55
  20  Bread           -1.920         1.397          -2.981         0              0              0              55
  21  Lettuce         1.017          1.751          1.604          0              270            0              68
  22  Lettuce         -1.660         1.399          -1.941         0              0              0              55
  23  Mug             0.965          1.371          -1.534         0              270            0              76
  24  Mug             1.148          1.305          0.810          0              270            0              80
  25  Apple           1.276          1.256          1.238          0              0              0              80
  26  Apple           0.766          1.371          -2.794         0              0              0              55
  27  Bread           -1.660         1.397          -2.721         0              0              0              55
  28  Pot             -1.682         0.350          1.523          0              0              0              56
  29  Knife           0.349          1.352          -3.232         0              0              0              55
  30  Bowl            -1.401         1.321          1.744          0              0              0              55
  31  Potato          0.933          1.985          1.553          0              270            0              68
  32  SoapBottle      -1.586         0.280          2.151          0              270            0              70
  33  Fork            -1.645         0.420          -1.086         0              270            0              61
  34  Cup             -1.789         0.341          -2.162         0              0              0              51
  35  Kettle          -1.530         1.324          0.770          0              0              0              55
  36  Egg             -1.401         1.363          -2.461         0              0              0              55
  37  Pan             -0.125         1.332          -2.973         0              0              0              63
  38  SaltShaker      -1.681         0.338          0.613          0              0              0              53
  39  WineBottle      -1.451         1.323          -2.870         0              0              0              55
  40  Lettuce         -1.826         1.140          -0.542         0              0              0              73
  41  Spatula         0.563          1.337          -2.789         0              0              0              55
  42  PaperTowelRoll  -1.308         1.427          -2.981         0              0              0              55
  43  Tomato          -1.920         1.356          -1.941         0              0              0              55
  44  Plate           -2.049         1.323          1.419          0              0              0              55
  45  PepperShaker    1.027          1.202          1.254          0              0              0              80
  46  DishSponge      -2.004         1.336          -1.186         0              0              0              62
  47  Spoon           0.861          1.208          1.222          0              0              0              80
  48  Apple           -1.094         1.371          -2.981         0              0              0              55
  49  Mug             -1.451         1.318          -3.092         0              0              0              55
  50  StoveBurner     -0.239         1.325          -3.301         0              180            0
  51  Cabinet         -1.461         0.775          -2.002         0              0              0
  52  StoveBurner     -0.630         1.325          -3.301         0              180            0
  53  Cabinet         -1.461         0.775          0.470          0              0              0
  54  Cabinet         0.578          0.776          -2.054         0              0              0
  55  CounterTop      -1.809         1.358          1.182          0              0              0
  56  Cabinet         -1.461         0.775          1.310          0              0              0
  57  Faucet          -2.063         1.362          -0.726         0              39.391         0
  58  StoveBurner     -0.749         1.325          -2.973         0              0              0
  59  Drawer          -1.610         0.681          -0.430         0              0              0
  60  Window          -2.566         1.799          -0.822         270            0              0
  61  Drawer          -1.610         0.681          -1.217         0              0              0
  62  Sink            -1.990         1.143          -0.975         0              0              0
  63  StoveBurner     -0.125         1.325          -2.973         0              0              0
  64  StoveKnob       -0.185         1.338          -2.741         0              270            180
  65  StoveKnob       -0.336         1.338          -2.741         0              270            180
  66  StoveKnob       -0.569         1.338          -2.741         0              270            180
  67  StoveKnob       -0.707         1.338          -2.741         0              270            180
  68  Fridge          1.013          0.227          1.917          0              270            0
  69  Microwave       0.994          1.310          -2.163         0              270            0
  70  GarbageCan      -1.633         0.212          2.192          0              270            0
  71  LightSwitch     1.386          1.565          -0.657         0              270            0
  72  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  73  SinkBasin       -1.835         1.039          -0.542         0              0              0
  74  ButterKnife     0.873          0.468          0.651          0              0              0
  75  Toaster         -1.885         1.310          -2.512         0              90             0
  76  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  77  Drawer          0.647          1.061          0.680          0              270            0
  78  Drawer          0.648          1.061          1.020          0              270            0
  79  Drawer          0.648          0.843          1.020          0              270            0
  80  SideTable       0.975          0.220          0.869          0              270            0
  81  Drawer          0.648          0.602          0.680          0              270            0
  82  Drawer          0.648          0.596          1.020          0              270            0
  83  Drawer          0.648          0.843          0.680          0              270            0
  84  Stool           0.606          0.222          -1.084         1.233          280.489        0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Move to the counter to the left of the green recycling bin. | STEP 2: Pick up the knife with the yellow handle to the left of the plate. | STEP 3: Move slightly left to the area of the counter to the left of the silver tea kettle. | STEP 4: Slice the tomato to the right of the potted plant using the knife. | STEP 5: Turn around, move towards the green door, then turn around and face the counter area to the right of the sink. | STEP 6: Open the cabinet door to the right of the sink beneath the counter, place the knife in front of the salt shaker, then close the cabinet door. | STEP 7: Move to the counter area to the right of the tea kettle. | STEP 8: Pick up a tomato slice from the sliced tomato to the right of the potted plant. | STEP 9: Turn left and move to the sink in front of the window. | STEP 10: Place the tomato slice in the sink to the left of the lettuce, wash it with water using the faucet, then allow the sink to drain, and then pick up the tomato slice from the sink. | STEP 11: Turn right, move towards the green recycling bin, then turn right and move to the black microwave to the right of the refrigerator. | STEP 12: Place the tomato slice to the right of the spoon near the edge of the table. | END