Task: Slice a tomato, place a 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           -1.75          0.900          2.75           0              270            0
   1  Pan             1.328          0.957          -1.420         0              180            0              59
   2  Pan             1.328          0.957          -1.688         0              180            0              58
   3  Book            -2.321         0.875          3.073          0              270            0              57
   4  Book            -2.996         0.875          3.296          0              270            0              57
   5  DishSponge      -0.367         0.707          -1.573         0              270            0              84
   6  ButterKnife     -2.539         0.878          3.102          0              315            0              57
   7  Pot             -1.961         0.914          -0.939         0              0              0              55
   8  Fork            -2.248         0.875          3.527          0              225            0              57
   9  Egg             -0.377         0.414          2.025          0              180            0              80
  10  Cup             -0.377         0.801          2.194          0              180            0              80
  11  Plate           -2.659         0.878          3.559          0              0              0              57
  12  Plate           0.307          1.576          2.219          0              180            0              80
  13  Knife           -0.942         0.934          -1.471         0              90             0              55
  14  SoapBottle      1.616          0.115          -1.375         0              0              0              61
  15  Bowl            -0.149         1.141          2.206          0              180            0              80
  16  Bowl            -2.353         0.876          2.811          0              135            0              57
  17  SaltShaker      -0.943         1.650          -1.788         0              0              0              67
  18  SaltShaker      0.677          0.714          -1.410         0              0              0              72
  19  PepperShaker    -1.982         0.714          -1.579         0              0              0              74
  20  Bread           -1.961         0.995          -0.288         0              0              0              55
  21  Mug             3.662          0.875          1.554          0              90             0              76
  22  Mug             -1.112         0.958          -1.479         0              0              0              92
  23  Book            -1.516         0.908          0.037          0              0              0              55
  24  Fork            -2.472         0.879          3.513          0              225            0              57
  25  Tomato          0.234          0.975          -1.429         0              270            0              52
  26  Egg             -0.377         1.169          2.246          0              180            0              80
  27  Kettle          -0.833         0.900          -1.757         0              0              0              55
  28  Vase            -1.888         1.658          -1.710         0              0              0              51
  29  Cup             1.316          1.759          -1.596         0              0              0              79
  30  WineBottle      -1.961         0.913          0.363          0              0              0              55
  31  Plate           0.571          0.916          -1.776         0              0              0              55
  32  Spatula         -2.152         0.893          3.370          0              270            0              57
  33  Potato          1.614          0.946          -1.255         0              0              0              75
  34  Pot             0.974          0.957          -1.419         0              180            0              73
  35  Knife           -1.550         0.739          -0.788         0              270            0              70
  36  SaltShaker      -1.975         0.116          -1.799         0              0              0              56
  37  PepperShaker    -1.682         0.714          -0.788         0              0              0              70
  38  Lettuce         -2.458         0.943          3.737          0              225            0              57
  39  ButterKnife     -2.659         0.874          2.715          0              0              0              57
  40  Bread           -1.516         0.995          -1.591         0              0              0              55
  41  Vase            1.631          1.656          -1.709         0              0              0              65
  42  DishSponge      3.637          0.552          1.656          0              270            0              78
  43  Apple           -0.723         0.967          -1.267         0              0              0              55
  44  Pan             -1.627         0.911          0.363          0              0              0              55
  45  Spoon           -2.606         0.875          3.274          0              135            0              57
  46  SoapBottle      -0.897         0.193          2.174          0              90             0              85
  47  Mug             0.193          1.567          1.981          0              180            0              80
  48  Statue          3.676          0.168          1.410          0              334.521        0              78
  49  Statue          3.793          0.551          1.449          0              270            0              78
  50  Bowl            0.617          0.910          -1.369         0              0              0              55
  51  Cabinet         -2.171         2.009          -1.538         0              0              0
  52  Sink            0.024          0.771          -1.708         0              270            0
  53  Cabinet         1.444          2.259          -1.542         0              0              0
  54  StoveBurner     0.974          0.957          -1.688         0              180            0
  55  CounterTop      -1.866         0.947          -0.614         0              0              0
  56  Cabinet         -2.217         0.373          -1.874         0              0              0
  57  DiningTable     -2.663         0.002          3.208          0              0              0
  58  StoveBurner     1.328          0.957          -1.688         0              180            0
  59  StoveBurner     1.328          0.957          -1.420         0              180            0
  60  Cabinet         -1.478         0.373          -1.235         0              0              0
  61  Cabinet         1.775          0.372          -1.242         0              0              0
  62  Cabinet         0.774          0.372          -1.242         0              0              0
  63  Cabinet         0.375          0.372          -1.242         0              0              0
  64  Cabinet         -0.574         0.372          -1.238         0              0              0
  65  Cabinet         1.775          2.009          -1.542         0              0              0
  66  Cabinet         0.524          2.009          -1.542         0              0              0
  67  Cabinet         -0.714         2.009          -1.542         0              0              0
  68  Cabinet         -1.671         2.009          -1.538         0              0              0
  69  Cabinet         0.854          2.259          -1.542         0              0              0
  70  Drawer          -1.636         0.683          -0.930         0              0              0
  71  Drawer          1.650          0.682          -1.396         0              0              0
  72  Drawer          0.600          0.682          -1.396         0              0              0
  73  StoveBurner     0.974          0.957          -1.419         0              180            0
  74  Drawer          -2.062         0.683          -1.579         0              0              0
  75  CounterTop      1.645          0.945          -1.527         0              0              0
  76  Shelf           3.725          0.880          1.671          0              90             0
  77  LightSwitch     2.830          1.266          -0.748         0              0              0
  78  Shelf           3.726          0.552          1.671          0              90             0
  79  Microwave       1.150          1.655          -1.614         0              0              0
  80  Fridge          -0.035         0.0            2.177          0              180            0
  81  Window          -0.115         1.802          -1.896         90             0              0
  82  Window          -4.009         1.799          0.310          90             90             0
  83  Shelf           3.726          0.172          1.671          0              90             0
  84  SinkBasin       -0.330         0.686          -1.581         0              270            0
  85  GarbageCan      -0.870         -0.001         2.136          0              90             0
  86  StoveKnob       1.089          0.913          -1.243         45             0              0
  87  StoveKnob       1.208          0.913          -1.243         45             0              0
  88  StoveKnob       1.340          0.913          -1.243         45             0              0
  89  StoveKnob       0.961          0.913          -1.243         45             0              0
  90  Toaster         1.637          0.900          -1.673         0              0              0
  91  Chair           -3.505         0.002          3.290          0              105.736        0
  92  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  93  HousePlant      -2.663         0.835          3.209          0              0              0
  94  Faucet          -0.187         0.922          -1.75          0              311.166        0
  95  ShelvingUnit    3.726          0.006          1.671          0              90             0
  96  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  97  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  98  Chair           -2.934         0.002          2.437          0              28.531         0
  99  Chair           -1.698         0.002          3.235          0              245.204        0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Cross the room to the dishwasher and face the dishwasher. | STEP 2: Pick up the knife on the counter between the apple and the coffee maker. | STEP 3: Turn left, move to in front of the tomato, turn right and face the tomato. | STEP 4: Use the knife to slice the tomato. | STEP 5: Turn right, move to the sink, turn left, face the sink. | STEP 6:  Place the knife in the sink. | STEP 7: Turn left, move to the tomato slices, turn right to face the tomato slices. | STEP 8: Pick up a tomato slice. | STEP 9: Turn right, move to the sink, turn left, face the sink. | STEP 10: Put the tomato slice in the sink , rinse it off, retrieve the tomato slice. | STEP 11: Cross the room to the table. | STEP 12: Place the tomato slice on the table. | END