Task: put a cooked slice of tomato on to 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           -2.25          0.900          -0.75          0              180            0
   1  Kettle          -2.614         0.953          0.614          0              90             0              85
   2  Pan             -2.135         1.492          -1.763         0              90             0              82
   3  Potato          -2.065         0.982          0.614          0              90             0              85
   4  DishSponge      -2.614         0.951          0.165          0              90             0              85
   5  ButterKnife     1.724          0.912          0.458          0              0              0              67
   6  ButterKnife     0.701          0.919          -1.649         0              270            0              50
   7  Pot             1.361          0.962          0.561          0              270            0              57
   8  Fork            1.785          0.912          0.292          0              0              0              67
   9  Spoon           -2.340         0.953          0.435          0              0              0              85
  10  Spatula         1.907          0.927          0.375          0              270            0              67
  11  Plate           1.658          0.913          -1.737         0              0              0              52
  12  SoapBottle      -0.362         0.068          0.612          0              90             0              81
  13  Tomato          -2.222         0.829          -1.763         0              0              0              82
  14  Tomato          -2.477         1.001          0.165          0              90             0              85
  15  Tomato          -1.872         1.541          -1.720         0              0              0              82
  16  Bowl            -2.31          0.510          -1.806         0              0              0              82
  17  Bowl            0.071          0.105          0.281          0              0              0              62
  18  PepperShaker    -0.729         0.107          -1.545         0              0              0              66
  19  PepperShaker    0.564          0.908          0.292          0              0              0              51
  20  Bread           1.846          0.995          0.623          0              0              0              67
  21  Apple           0.804          0.986          -1.715         0              270            0              50
  22  Apple           -2.203         1.019          0.435          0              90             0              85
  23  Bread           1.299          0.978          -1.532         0              0              0              52
  24  Knife           0.167          0.937          0.623          0              0              0              51
  25  Fork            1.781          0.912          -1.489         0              0              0              52
  26  Bowl            -0.923         1.014          -1.737         0              0              0              74
  27  Kettle          1.830          0.109          0.311          0              0              0              67
  28  Cup             -2.477         0.950          0.345          0              90             0              85
  29  Tomato          -1.872         0.829          -1.849         0              0              0              82
  30  SoapBottle      0.432          0.910          0.209          0              0              0              51
  31  Plate           1.608          1.329          -1.809         0              180            0              68
  32  Pot             1.007          0.962          0.561          0              270            0              54
  33  Spatula         -2.065         0.967          0.165          0              90             0              85
  34  PaperTowelRoll  1.903          1.016          -1.737         0              0              0              52
  35  Egg             -1.791         0.987          0.524          0              90             0              85
  36  Lettuce         0.851          1.001          -1.537         0              231.490        0              50
  37  SaltShaker      -0.096         0.908          0.706          0              0              0              51
  38  PepperShaker    -2.203         0.948          0.704          0              90             0              85
  39  Apple           -1.928         1.019          0.524          0              90             0              85
  40  ButterKnife     -2.340         0.952          0.345          0              90             0              85
  41  Potato          0.377          0.806          -1.552         0              270            0              75
  42  Pan             1.022          0.959          0.288          0              219.190        0              64
  43  DishSponge      -2.614         0.951          0.435          0              90             0              85
  44  Spoon           -2.065         0.953          0.435          0              180            0              85
  45  Mug             -2.203         0.947          0.165          0              90             0              85
  46  Cabinet         -0.193         1.688          -1.648         0              180            0
  47  StoveBurner     1.360          0.957          0.293          0              180            0
  48  Drawer          0.499          0.792          0.296          0              0              0
  49  Cabinet         0.095          0.400          -1.352         0              180            0
  50  Sink            0.711          0.817          -1.772         0              270            0
  51  CounterTop      0.280          0.947          0.458          0              0              0
  52  CounterTop      -0.680         0.947          -1.654         0              0              0
  53  Drawer          1.825          0.792          0.296          0              0              0
  54  StoveBurner     1.007          0.957          0.561          0              270            0
  55  Drawer          -0.150         0.792          -1.496         0              0              0
  56  Drawer          -0.586         0.792          -1.496         0              0              0
  57  StoveBurner     1.360          0.957          0.561          0              270            0
  58  Drawer          0.024          0.792          0.296          0              0              0
  59  Cabinet         1.079          0.400          -1.349         0              180            0
  60  Cabinet         1.669          0.402          0.151          0              0              0
  61  Cabinet         0.055          0.402          -1.351         0              0              0
  62  Cabinet         -0.180         0.402          0.151          0              0              0
  63  Cabinet         0.729          0.402          0.151          0              0              0
  64  StoveBurner     1.007          0.957          0.293          0              180            0
  65  Drawer          -1.100         0.792          -1.496         0              0              0
  66  Cabinet         -0.396         0.402          -1.351         0              0              0
  67  CounterTop      1.776          0.947          0.458          0              0              0
  68  Cabinet         1.974          1.688          -1.648         0              180            0
  69  Cabinet         -0.820         0.400          -1.349         0              180            0
  70  Toaster         0.305          0.900          0.552          0              180            0
  71  LightSwitch     -2.756         1.307          -0.987         0              90             0
  72  Window          0.582          1.613          -1.967         90             0              0
  73  Window          1.969          1.5            -0.615         90             270            0
  74  Microwave       -1.037         0.900          -1.723         0              0              0
  75  SinkBasin       0.377          0.765          -1.655         0              270            0
  76  CoffeeMachine   0.618          0.900          0.600          0              180            0
  77  StoveKnob       1.246          0.913          0.118          45             180            0
  78  StoveKnob       1.373          0.913          0.118          45             180            0
  79  StoveKnob       0.995          0.913          0.118          45             180            0
  80  StoveKnob       1.126          0.913          0.118          45             180            0
  81  GarbageCan      -0.368         -0.029         0.539          0              90             0
  82  Fridge          -2.134         0.0            -1.690         0              0              0
  83  Faucet          0.549          1.046          -1.833         0              232.527        0
  84  Stool           -1.475         0.000          0.414          1.233          280.375        0
  85  DiningTable     -2.255         -0.004         0.432          0              0              0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: move back slightly from the fridge in order to open the door | STEP 2: open the fridge door and remove the tomato that is on the right side of the second shelf and close the door | STEP 3: turn around and move forward to the white square table | STEP 4: put the tomato on to the table to the left of the black coffee mug | STEP 5: pick up the knife that is behind the tomato on the table | STEP 6: slice the tomato that is to the left of the black coffee mug with the knife | STEP 7: put the knife on the table on top of the spatula | STEP 8: pick up a tomato slice from the table | STEP 9: turn around and move to the microwave that is on the counter to the left of the fridge | STEP 10: open the microwave door, put the slice of tomato in to the microwave on the plate, close the door, cook for a few second, open the door and remove the tomato slice, close the door | STEP 11: turn around and move back to the white table | STEP 12: put the slice of tomato on to the right side of the table | END