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           1.0            0.900          1.0            0              270            0
   1  Book            -2.490         0.875          3.073          0              270            0              58
   2  DishSponge      -2.072         0.911          -1.265         0              0              0              56
   3  DishSponge      -2.807         0.878          2.884          0              0              0              58
   4  Kettle          -1.649         0.120          -0.766         0              0              0              61
   5  Kettle          0.974          0.957          -1.688         0              180            0              55
   6  Spatula         -1.849         0.927          -1.591         0              180            0              56
   7  Spatula         0.069          0.943          -1.790         0              180            0              53
   8  Fork            -2.510         0.875          3.221          0              0              0              58
   9  Spoon           -2.321         0.875          3.370          0              270            0              58
  10  Cup             -0.330         0.706          -1.573         0              270            0              85
  11  Knife           -2.964         0.900          3.632          0              135            0              58
  12  SoapBottle      0.709          0.912          -1.369         0              0              0              56
  13  SoapBottle      -1.516         0.912          -0.614         0              0              0              56
  14  Tomato          -3.122         0.922          2.968          0              225            0              58
  15  Tomato          -0.035         1.619          2.040          0              180            0              81
  16  Tomato          -3.165         0.925          3.296          0              270            0              58
  17  Bowl            -0.149         1.141          2.167          0              180            0              81
  18  PepperShaker    -2.072         0.908          0.037          0              0              0              56
  19  PepperShaker    -2.321         0.874          3.073          0              270            0              58
  20  Bread           -2.072         0.995          -0.288         0              0              0              56
  21  Bread           -2.659         0.961          3.559          0              0              0              58
  22  Mug             3.793          0.547          1.553          0              270            0              79
  23  Mug             -2.584         0.873          2.884          0              0              0              58
  24  Book            -1.94          0.900          -1.693         0              0              0              75
  25  Fork            0.571          0.912          -1.776         0              90             0              56
  26  Tomato          -2.248         0.922          2.916          0              135            0              58
  27  Egg             -1.568         0.929          -0.469         0              0              0              56
  28  Kettle          1.328          0.957          -1.688         0              180            0              59
  29  Vase            -2.152         0.879          3.221          0              270            0              58
  30  Cup             -2.673         0.876          2.997          0              225            0              58
  31  WineBottle      -0.181         0.122          -1.492         0              0              0              65
  32  Plate           -0.263         1.576          2.219          0              180            0              81
  33  Spatula         -1.682         0.734          -0.859         0              270            0              71
  34  Potato          -2.659         0.911          3.370          0              270            0              58
  35  Pot             1.328          0.957          -1.420         0              180            0              60
  36  Knife           -2.828         0.900          3.370          0              270            0              58
  37  SaltShaker      1.724          0.906          -1.437         0              0              0              76
  38  PepperShaker    -1.583         0.716          -0.930         0              0              0              71
  39  Lettuce         -2.996         0.939          3.296          0              270            0              58
  40  ButterKnife     0.124          0.928          -1.646         0              270            0              53
  41  Bread           -1.601         0.980          -0.837         0              334.888        0              56
  42  Vase            1.648          0.115          -1.450         0              0              0              62
  43  DishSponge      -0.459         0.121          -1.373         0              0              0              65
  44  Apple           0.079          1.199          2.127          0              180            0              81
  45  Pan             0.972          0.959          -1.426         0              0              0              74
  46  Spoon           -0.330         0.698          -1.626         0              270            0              85
  47  SoapBottle      -0.237         0.122          -1.373         0              0              0              65
  48  Mug             -0.035         0.797          2.080          0              180            0              81
  49  Statue          3.676          0.168          1.410          0              334.521        0              79
  50  Statue          3.668          0.540          1.800          0              0              0              79
  51  Bowl            -1.888         1.655          -1.710         0              0              0              52
  52  Cabinet         -2.171         2.009          -1.538         0              0              0
  53  Sink            0.024          0.771          -1.708         0              270            0
  54  Cabinet         1.444          2.259          -1.542         0              0              0
  55  StoveBurner     0.974          0.957          -1.688         0              180            0
  56  CounterTop      -1.866         0.947          -0.614         0              0              0
  57  Cabinet         -2.217         0.373          -1.874         0              0              0
  58  DiningTable     -2.663         0.002          3.208          0              0              0
  59  StoveBurner     1.328          0.957          -1.688         0              180            0
  60  StoveBurner     1.328          0.957          -1.420         0              180            0
  61  Cabinet         -1.478         0.373          -1.235         0              0              0
  62  Cabinet         1.775          0.372          -1.242         0              0              0
  63  Cabinet         0.774          0.372          -1.242         0              0              0
  64  Cabinet         0.375          0.372          -1.242         0              0              0
  65  Cabinet         -0.574         0.372          -1.238         0              0              0
  66  Cabinet         1.775          2.009          -1.542         0              0              0
  67  Cabinet         0.524          2.009          -1.542         0              0              0
  68  Cabinet         -0.714         2.009          -1.542         0              0              0
  69  Cabinet         -1.671         2.009          -1.538         0              0              0
  70  Cabinet         0.854          2.259          -1.542         0              0              0
  71  Drawer          -1.636         0.683          -0.930         0              0              0
  72  Drawer          1.650          0.682          -1.396         0              0              0
  73  Drawer          0.600          0.682          -1.396         0              0              0
  74  StoveBurner     0.974          0.957          -1.419         0              180            0
  75  Drawer          -2.062         0.683          -1.579         0              0              0
  76  CounterTop      1.645          0.945          -1.527         0              0              0
  77  Shelf           3.725          0.880          1.671          0              90             0
  78  LightSwitch     2.830          1.266          -0.748         0              0              0
  79  Shelf           3.726          0.552          1.671          0              90             0
  80  Microwave       1.150          1.655          -1.614         0              0              0
  81  Fridge          -0.035         0.0            2.177          0              180            0
  82  Window          -0.115         1.802          -1.896         90             0              0
  83  Window          -4.009         1.799          0.310          90             90             0
  84  Shelf           3.726          0.172          1.671          0              90             0
  85  SinkBasin       -0.330         0.686          -1.581         0              270            0
  86  GarbageCan      -0.870         -0.001         2.136          0              90             0
  87  StoveKnob       1.089          0.913          -1.243         45             0              0
  88  StoveKnob       1.208          0.913          -1.243         45             0              0
  89  StoveKnob       1.340          0.913          -1.243         45             0              0
  90  StoveKnob       0.961          0.913          -1.243         45             0              0
  91  Toaster         1.637          0.900          -1.673         0              0              0
  92  Chair           -3.505         0.002          3.290          0              105.736        0
  93  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  94  HousePlant      -2.663         0.835          3.209          0              0              0
  95  Faucet          -0.187         0.922          -1.75          0              311.166        0
  96  ShelvingUnit    3.726          0.006          1.671          0              90             0
  97  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  98  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  99  Chair           -2.934         0.002          2.437          0              28.531         0
 100  Chair           -1.698         0.002          3.235          0              245.204        0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: take a few steps forward and turn to the left and go to the sink | STEP 2: pick up the knife from the left sink basin | STEP 3: turn to the right and go to the counter and turn to the right and go forward past the counter and turn to the left and take a few steps and turn to the right and go to the table | STEP 4: slice the tomato on the table | STEP 5: turn to the right and go to the wall and turn right and go a few steps to clear the refrigerator and turn to the left and take a few steps and turn right and go to the sink | STEP 6: put the knife in the right sink basin | STEP 7: turn to the right and go to the counter and turn to the right and go forward past the counter and turn to the left and take a few steps and turn to the right and go to the table | STEP 8: pick up a slice of tomato from the table | STEP 9: turn to the right and go to the wall and turn right and go a few steps to clear the refrigerator and turn to the left and take a few steps and turn right and go to the sink | STEP 10: put the tomato slice in the right sink basin and turn on the water to fill the sink and turn off and drain the sink and pick up the tomato slice | STEP 11: turn to the right and go to the counter and turn right and go forward past the counter and turn left and go to the wall and turn right and go to the chair and turn to the right | STEP 12: put the tomato slice on the table | END