Task: Put a plate with a tomato slice on a table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.914          2.75           0              0              0
   1  WineBottle      -3.272         0.916          1.607          0              0              0              51
   2  WineBottle      -3.463         0.916          3.827          0              0              0              42
   3  Spatula         -3.368         0.930          1.524          0              0              0              51
   4  Spoon           -1.815         0.916          4.104          0              180            0              42
   5  Spoon           -3.081         0.916          1.607          0              0              0              51
   6  Fork            -1.729         0.790          3.7            0              90             0              72
   7  Pot             -3.424         0.966          2.374          0              0              0              48
   8  Cup             -2.759         0.080          3.548          0              0              0              54
   9  Knife           -2.402         0.939          3.783          0              0              0              42
  10  Tomato          -3.081         0.984          1.106          0              0              0              51
  11  Tomato          -0.556         0.791          3.817          0              180            0              68
  12  Tomato          -0.556         1.054          4.051          0              180            0              68
  13  SoapBottle      -3.492         1.995          2.479          0              0              0              57
  14  PepperShaker    -1.711         0.911          4.188          0              0              0              42
  15  PepperShaker    -3.271         0.077          3.032          0              0              0              55
  16  Lettuce         -3.176         1.001          3.336          0              180            0              42
  17  Mug             -0.089         0.981          4.051          0              180            0              68
  18  Apple           -1.921         0.849          3.774          0              0              0              72
  19  Egg             -0.673         1.021          4.114          0              180            0              68
  20  Knife           -3.368         0.939          1.189          0              90             0              51
  21  Fork            -2.402         0.916          3.998          0              0              0              42
  22  Bread           -1.919         0.996          4.104          0              0              0              42
  23  Potato          -2.126         0.947          4.231          0              0              0              42
  24  Plate           -3.005         0.904          3.677          0              0              0              42
  25  Pot             -3.424         0.966          1.971          0              0              0              50
  26  Kettle          -3.148         0.966          2.374          0              0              0              45
  27  WineBottle      -2.511         0.081          3.625          0              0              0              53
  28  Bowl            -0.790         0.721          3.843          0              180            0              68
  29  Tomato          -0.439         1.054          3.863          0              180            0              68
  30  Cup             -3.458         1.994          1.999          0              0              0              56
  31  Spatula         -3.126         0.761          2.806          0              90             0              44
  32  SoapBottle      -3.654         0.915          1.524          0              0              0              51
  33  Lettuce         -3.559         1.001          2.844          0              0              0              42
  34  Pan             -2.614         0.902          3.620          0              0              0              42
  35  Apple           -1.161         0.147          3.788          0              270            0              74
  36  SaltShaker      -3.127         0.743          3.356          0              0              0              52
  37  PepperShaker    -3.559         0.912          1.189          0              0              0              51
  38  ButterKnife     -3.463         0.915          1.273          0              0              0              51
  39  DishSponge      -3.272         0.915          1.189          0              0              0              51
  40  Spoon           -3.081         0.916          1.273          0              0              0              51
  41  Mug             -0.440         1.536          4.033          0              180            0              68
  42  CounterTop      -3.381         0.950          3.335          0              0              0
  43  Drawer          -3.121         0.775          1.357          0              0              0
  44  Drawer          -3.121         0.777          2.916          0              0              0
  45  StoveBurner     -3.148         0.958          2.374          0              0              0
  46  Sink            -1.797         0.917          3.660          0              0              0
  47  Cabinet         -1.421         0.388          3.459          0              0              0
  48  StoveBurner     -3.424         0.958          2.374          0              0              0
  49  Cabinet         -3.365         1.931          2.676          0              0              0
  50  StoveBurner     -3.424         0.958          1.971          0              0              0
  51  CounterTop      -3.381         0.951          1.356          0              0              0
  52  Drawer          -3.121         0.781          3.295          0              0              0
  53  Cabinet         -2.205         0.388          3.459          0              0              0
  54  Cabinet         -2.963         0.388          3.459          0              0              0
  55  Cabinet         -2.992         0.388          2.683          0              0              0
  56  Cabinet         -3.352         2.205          1.715          0              0              0
  57  Cabinet         -3.352         2.205          2.653          0              0              0
  58  Cabinet         -2.189         0.388          3.466          0              0              0
  59  Cabinet         -3.365         1.931          3.963          0              0              0
  60  Cabinet         -3.365         1.931          1.056          0              0              0
  61  Cabinet         -2.992         0.388          1.037          0              0              0
  62  StoveBurner     -3.143         0.958          1.971          0              0              0
  63  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  64  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  65  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  66  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  67  Toaster         -2.654         0.902          4.064          0              180            0
  68  Fridge          -0.439         0.014          3.996          0              0              0
  69  LightSwitch     0.25           1.383          2.085          0              270            0
  70  Window          -1.430         1.338          -0.347         90             0              0
  71  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  72  SinkBasin       -1.802         0.778          3.700          0              0              0
  73  Microwave       -3.484         1.430          2.182          0              90             0
  74  GarbageCan      -1.184         -0.020         3.794          0              270            0
  75  Blinds          -1.404         2.092          -0.296         0              0              0
  76  Stool           -1.373         0.014          1.048          1.214          20.754         0
  77  Faucet          -1.788         0.903          3.931          270            90             0
  78  DiningTable     -1.399         0.010          0.238          0              0              0
  79  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn to your left, again turn left to go to the counter to the left of the stove | STEP 2: Pick up the knife with yellow handle | STEP 3: Go to the fridge | STEP 4: Open the fridge, cut a tomato with the knife, and close the fridge | STEP 5: Take a step back from the fridge and wait for a second | STEP 6: Open the fridge again, put the knife on a tray, and close the fridge | STEP 7: Stay in front of the fridge for a second | STEP 8: Open the fridge, pick up a tomato slice from the tray, and close the fridge | STEP 9: Turn to your left carrying the tomato slice, go forward past the sink, turn right toward the counter with a toaster | STEP 10: Put the slice on the plate to the left of the pan | STEP 11: Pick up the plate with the tomato slice | STEP 12: Turn around, move across the room to the white table | STEP 13: Put the plate on the table | END