Task: Putting a sliced tomato on the black 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          -2.25          0              0              0
   1  Pan             -0.222         0.961          -2.243         0              0              0              67
   2  Potato          -2.560         0.926          -0.204         0              270            0              85
   3  ButterKnife     -0.394         0.941          -1.319         0              0              0              66
   4  Fork            -3.942         0.691          -0.187         0              0              0              83
   5  Spoon           -3.620         0.761          -3.320         0              244.125        0              84
   6  Spoon           -0.236         0.942          -1.450         0              0              0              66
   7  Spatula         -3.396         0.775          -3.073         0              244.125        0              84
   8  Spatula         -4.059         0.775          -3.168         0              109.125        0              84
   9  Egg             -4.182         0.731          -0.430         0              0              0              83
  10  Egg             -0.351         0.983          -3.022         0              45             0              48
  11  Cup             -3.364         0.895          -0.204         0              270            0              85
  12  Cup             -2.761         0.895          -0.119         0              270            0              85
  13  Plate           -0.359         1.502          -0.297         0              270            0              78
  14  Knife           -0.577         0.777          -2.685         0              270            0              53
  15  SoapBottle      -0.412         1.501          -3.587         0              45             0              60
  16  Bowl            -0.469         0.078          -2.681         0              0              0              61
  17  Bowl            -2.761         0.892          -0.633         0              270            0              85
  18  Bread           -3.364         0.976          -0.462         0              270            0              85
  19  Bread           -3.704         0.841          -3.500         0              244.125        0              84
  20  Lettuce         -3.565         0.985          -0.462         0              270            0              85
  21  SaltShaker      -0.708         0.076          -3.205         0              45             0              62
  22  SaltShaker      -0.475         0.748          -2.632         0              0              0              53
  23  PepperShaker    -3.882         0.686          -0.187         0              0              0              83
  24  PepperShaker    -0.541         0.078          -1.410         0              0              0              64
  25  Mug             -3.882         0.685          -0.369         0              0              0              83
  26  Mug             -2.560         0.889          -0.462         0              270            0              85
  27  SoapBottle      -1.117         0.079          -3.532         0              0              0              63
  28  Pot             -0.437         0.961          -1.845         0              180            0              49
  29  Fork            -0.524         0.747          -1.488         0              90             0              52
  30  Cup             -4.062         0.691          -0.430         0              0              0              83
  31  Tomato          -0.236         0.992          -1.538         0              0              0              66
  32  Pan             -0.217         0.958          -2.215         0              45             0              67
  33  Plate           -2.359         0.908          -0.204         0              270            0              85
  34  Bread           -2.984         0.956          -0.311         0              50.592         0              85
  35  Spatula         -2.560         0.909          -0.633         0              180            0              85
  36  Knife           -3.565         0.920          -0.290         0              270            0              85
  37  SaltShaker      -0.509         0.747          -2.846         0              0              0              53
  38  PepperShaker    -0.473         0.937          -1.406         0              0              0              66
  39  ButterKnife     -2.560         0.894          -0.548         0              270            0              85
  40  Apple           -0.451         0.874          -3.299         0              315            0              77
  41  DishSponge      -0.469         0.080          -2.793         0              0              0              61
  42  Potato          -0.134         1.607          -2.043         0              270            0              80
  43  Egg             -0.268         1.620          -2.043         0              270            0              80
  44  Spoon           -0.315         0.942          -1.406         0              90             0              66
  45  Lettuce         -4.182         0.782          -0.187         0              0              0              83
  46  Mug             -3.373         0.755          -3.545         0              334.125        0              84
  47  Bowl            -0.252         1.284          -0.413         0              270            0              78
  48  CounterTop      -1.937         0.977          -3.673         0              0              0
  49  StoveBurner     -0.437         0.924          -1.845         0              180            0
  50  StoveBurner     -0.222         0.924          -1.845         0              180            0
  51  StoveBurner     -0.437         0.924          -2.243         0              0              0
  52  Drawer          -0.500         0.779          -1.450         0              0              0
  53  Drawer          -0.481         0.777          -2.739         0              0              0
  54  Drawer          -1.154         0.782          -3.499         0              0              0
  55  Cabinet         -0.337         2.110          -0.390         0              0              0
  56  Cabinet         -0.337         2.110          -1.272         0              0              0
  57  Cabinet         -0.337         2.110          -1.631         0              0              0
  58  Cabinet         -0.337         2.110          -2.497         0              0              0
  59  Cabinet         -0.337         1.891          -1.286         0              0              0
  60  Cabinet         -0.346         1.891          -3.293         0              0              0
  61  Cabinet         -0.629         0.388          -2.513         0              0              0
  62  Cabinet         -0.633         0.388          -3.008         0              0              0
  63  Cabinet         -1.010         0.388          -3.368         0              0              0
  64  Cabinet         -0.629         0.388          -1.614         0              0              0
  65  Cabinet         -0.327         1.886          -2.513         0              0              0
  66  CounterTop      -0.326         0.976          -1.450         0              0              0
  67  StoveBurner     -0.222         0.924          -2.243         0              0              0
  68  Sink            -0.600         0.929          -3.388         0              0              0
  69  StoveKnob       -0.617         0.899          -1.833         315            90             180
  70  StoveKnob       -0.617         0.899          -2.129         315            90             180
  71  StoveKnob       -0.617         0.899          -2.289         315            90             180
  72  StoveKnob       -0.617         0.899          -1.975         315            90             180
  73  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  74  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  75  Window          -1.389         1.610          -4.113         90             0              0
  76  LightSwitch     -4.372         1.493          -1.031         0              90             0
  77  SinkBasin       -0.614         0.802          -3.384         0              315            0
  78  Fridge          -0.314         0.0            -0.646         0              0              0
  79  Toaster         -1.970         0.930          -3.763         0              0              0
  80  Microwave       -0.216         1.470          -2.054         0              270            0
  81  Blinds          -1.373         2.205          -3.961         0              0              0
  82  Faucet          -0.393         0.930          -3.614         270            225            0
  83  SideTable       -4.030         0.002          -0.301         0              185.034        0
  84  DiningTable     -3.586         0.000          -3.258         0              0              0
  85  DiningTable     -3.224         -0.003         -0.453         0              0              0
  86  Shelf           -4.030         0.259          -0.301         0              185.034        0
  87  Shelf           -4.030         0.489          -0.301         0              185.034        0
  88  EastWall
  89  EastWall
  90  SouthWall

Plan:
STEP 1: Go to the counter to the right of the fridge | STEP 2: Grab the knife off of the counter | STEP 3: Move slightly to the right | STEP 4: Cut the tomato on the counter into slices | STEP 5: Put the knife down on the counter | STEP 6: Grab a slice of tomato | STEP 7: Move slightly to the right and face the microwave | STEP 8: Heat the tomato in the microwave and then take it out | STEP 9: Turn around and go to the small black table | STEP 10: Put the tomato on the table | END