Task: put a plate with a slice in it on the white 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          0.914          0.5            0              270            0
   1  DishSponge      -3.492         1.994          1.835          0              0              0              57
   2  WineBottle      -3.079         0.082          3.032          0              0              0              56
   3  Kettle          -3.148         0.966          2.374          0              0              0              46
   4  Spatula         -3.272         0.930          3.336          0              180            0              43
   5  Fork            -3.654         0.916          1.189          0              270            0              52
   6  Cup             -2.804         0.915          3.675          0              0              0              43
   7  Cup             -1.666         0.789          3.625          0              0              0              73
   8  Tomato          -3.654         0.984          1.524          0              0              0              52
   9  Tomato          -0.440         1.342          4.062          0              180            0              69
  10  SoapBottle      -2.460         0.080          3.547          0              0              0              54
  11  Bowl            -3.492         1.994          2.537          0              0              0              58
  12  Bowl            -3.654         0.914          1.357          0              0              0              52
  13  SaltShaker      -3.068         0.743          3.083          0              0              0              45
  14  PepperShaker    -3.573         1.455          2.846          0              0              0              50
  15  Lettuce         -3.463         1.001          1.357          0              0              0              52
  16  Bread           -2.402         0.996          3.998          0              0              0              43
  17  Mug             -3.272         0.910          1.524          0              0              0              52
  18  Apple           -3.505         1.606          2.224          0              90             0              74
  19  Apple           -0.673         1.046          4.114          0              180            0              69
  20  Egg             -2.302         0.950          3.675          0              0              0              43
  21  Knife           -3.176         0.939          1.273          0              0              0              52
  22  Fork            -3.272         0.916          3.008          0              90             0              43
  23  Bread           -1.192         0.169          3.788          0              270            0              75
  24  Potato          -0.790         1.306          4.062          0              180            0              69
  25  Plate           -3.006         0.904          3.677          0              0              0              43
  26  Pot             -3.424         0.966          1.971          0              0              0              51
  27  Kettle          -1.815         0.916          4.188          0              0              0              43
  28  WineBottle      -3.233         0.082          3.032          0              0              0              56
  29  Bowl            -0.790         0.985          3.863          0              180            0              69
  30  Tomato          -0.323         1.610          4.067          0              180            0              69
  31  Cup             -3.272         0.915          2.844          0              0              0              43
  32  Spatula         -3.272         0.930          1.273          0              270            0              52
  33  SoapBottle      -3.081         0.915          1.357          0              0              0              52
  34  Lettuce         -0.440         1.072          4.051          0              180            0              69
  35  Pan             -2.614         0.902          3.620          0              0              0              43
  36  Apple           -0.206         1.046          4.114          0              180            0              69
  37  SaltShaker      -3.368         0.912          1.106          0              0              0              52
  38  PepperShaker    -3.231         0.079          1.278          0              0              0              62
  39  ButterKnife     -2.804         0.915          3.998          0              0              0              43
  40  DishSponge      -1.707         0.080          3.586          0              0              0              75
  41  Spoon           -3.368         0.916          1.607          0              0              0              52
  42  Mug             -1.985         0.784          3.662          0              90             0              73
  43  CounterTop      -3.381         0.950          3.335          0              0              0
  44  Drawer          -3.121         0.775          1.357          0              0              0
  45  Drawer          -3.121         0.777          2.916          0              0              0
  46  StoveBurner     -3.148         0.958          2.374          0              0              0
  47  Sink            -1.797         0.917          3.660          0              0              0
  48  Cabinet         -1.421         0.388          3.459          0              0              0
  49  StoveBurner     -3.424         0.958          2.374          0              0              0
  50  Cabinet         -3.365         1.931          2.676          0              0              0
  51  StoveBurner     -3.424         0.958          1.971          0              0              0
  52  CounterTop      -3.381         0.951          1.356          0              0              0
  53  Drawer          -3.121         0.781          3.295          0              0              0
  54  Cabinet         -2.205         0.388          3.459          0              0              0
  55  Cabinet         -2.963         0.388          3.459          0              0              0
  56  Cabinet         -2.992         0.388          2.683          0              0              0
  57  Cabinet         -3.352         2.205          1.715          0              0              0
  58  Cabinet         -3.352         2.205          2.653          0              0              0
  59  Cabinet         -2.189         0.388          3.466          0              0              0
  60  Cabinet         -3.365         1.931          3.963          0              0              0
  61  Cabinet         -3.365         1.931          1.056          0              0              0
  62  Cabinet         -2.992         0.388          1.037          0              0              0
  63  StoveBurner     -3.143         0.958          1.971          0              0              0
  64  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  65  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  66  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  67  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  68  Toaster         -2.654         0.902          4.064          0              180            0
  69  Fridge          -0.439         0.014          3.996          0              0              0
  70  LightSwitch     0.25           1.383          2.085          0              270            0
  71  Window          -1.430         1.338          -0.347         90             0              0
  72  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  73  SinkBasin       -1.802         0.778          3.700          0              0              0
  74  Microwave       -3.484         1.430          2.182          0              90             0
  75  GarbageCan      -1.184         -0.020         3.794          0              270            0
  76  Blinds          -1.404         2.092          -0.296         0              0              0
  77  Stool           -1.373         0.014          1.048          1.214          20.754         0
  78  Faucet          -1.788         0.903          3.931          270            90             0
  79  DiningTable     -1.399         0.010          0.238          0              0              0
  80  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: turn to the right go forward towards to the counter | STEP 2: pick up the knife that is on the counter | STEP 3: turn to the right face the counter  | STEP 4: slice the tomato on the counter | STEP 5: turn to the left | STEP 6: put the knife on the counter | STEP 7: turn to the right | STEP 8: pick one slice of the tomato | STEP 9: turn around to the right go left forward towards the counter | STEP 10: put the slice of tomato on top of a plate on the counter | STEP 11: pick up the plate with the tomato slice in it | STEP 12: turn to the right go forward go right towards the white table | STEP 13: put the table on top of the white table | END