Task: Place a slice of tomato in between two tomatoes on the table closest to the wall.

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: Walk towards the refrigerator, turn left, walk towards the sink. | STEP 2: Pick up the knife that is on the left side of the sink, sitting on a tray. | STEP 3: Take the knife and turn right then walk towards the counter, then turn right again and walk towards garbage can hang a left then walk towards the window, turn right again and walk towards the brown table. | STEP 4: Take the knife and slice the tomato on the table.  | STEP 5: Take the knife, turn around and walk towards the counter top. Turn left and walk towards the refrigerator, turn right and walk towards the sink. | STEP 6: Place the knife next to the glass in the sink. | STEP 7: Turn right and walk towards the counter, turn right again and walk towards the garbage can, the turn left and walk towards the window, hang a right and walk towards the brown table.  | STEP 8: Pick up a tomato slice from the table.  | STEP 9: Turn around and walk towards the counter top, then turn left and walk towards the refrigerator, hang a right and walk towards the sink. | STEP 10: Place the tomato slice next to the knife in the sink and turn the water on to rinse the tomato slice, then turn the water off and pick up the slice of tomato in the sink. | STEP 11: Turn right and walk towards the the counter, turn right and walk towards the garbage can, turn left and walk all the way towards the window, then turn right and walk towards the brown chair closest to the wall. | STEP 12: Place the tomato slice in between two tomatoes.  | END