Task: Place a cooled slice of tomato in front of the coffee maker

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          0.0            0              180            0
   1  Pan             1.543          0.909          -0.320         0              90             0              45
   2  Potato          1.803          1.055          -0.676         0              270            0              66
   3  Potato          1.757          0.950          1.269          0              90             0              42
   4  Fork            0.553          0.911          -1.352         0              90             0              46
   5  Spatula         1.501          0.925          1.004          0              0              0              42
   6  Egg             -0.595         0.781          -1.559         0              0              0              69
   7  Cup             -0.692         0.458          -1.412         0              0              0              69
   8  Plate           1.805          1.655          -0.449         0              0              0              53
   9  Plate           1.805          1.636          -1.378         0              0              0              55
  10  Knife           1.839          0.943          0.415          0              0              0              42
  11  SoapBottle      1.809          2.134          1.159          0              0              0              49
  12  SoapBottle      1.808          1.637          0.543          0              0              0              51
  13  Tomato          0.989          0.974          0.739          0              90             0              42
  14  Bowl            1.757          0.909          1.004          0              90             0              42
  15  SaltShaker      1.840          1.640          -1.765         0              0              0              56
  16  Bread           1.501          0.987          1.269          0              90             0              42
  17  Mug             0.502          0.940          -1.460         0              0              0              68
  18  Apple           0.476          0.967          1.269          0              90             0              42
  19  Apple           1.796          0.968          -1.288         0              90             0              46
  20  Plate           1.802          1.647          -0.000         0              0              0              52
  21  SoapBottle      1.739          0.068          1.588          0              270            0              60
  22  Cup             -0.644         1.681          -1.559         0              0              0              69
  23  Egg             1.170          0.795          -1.654         0              0              0              61
  24  Fork            0.553          0.911          -1.793         0              180            0              46
  25  Ladle           1.586          0.955          -1.374         0              90             0              46
  26  Apple           -0.790         0.517          -1.541         0              0              0              69
  27  SaltShaker      0.840          0.906          -1.264         0              90             0              46
  28  Pan             1.807          0.909          -0.320         0              180            0              44
  29  Tomato          1.739          0.134          1.779          0              270            0              60
  30  Spatula         1.501          0.925          0.739          0              90             0              42
  31  Potato          -0.295         1.104          -1.357         0              0              0              69
  32  Knife           1.865          0.943          -1.545         0              0              0              46
  33  ButterKnife     1.656          0.911          -1.717         0              90             0              46
  34  Bread           0.220          0.987          0.739          0              90             0              42
  35  Lettuce         0.856          0.989          1.120          0              270            1.472          42
  36  PepperShaker    0.258          0.906          -1.263         0              90             0              46
  37  Pot             1.534          0.908          0.058          0              195.000        0              48
  38  DishSponge      1.451          0.910          0.518          0              90             0              42
  39  Spoon           1.529          0.911          0.415          0              270            0              42
  40  Bowl            1.607          0.909          0.518          0              90             0              42
  41  Mug             0.963          0.755          -1.654         0              270            0              61
  42  CounterTop      0.989          0.946          1.016          0              90             0
  43  StoveBurner     1.807          0.907          0.075          0              180            0
  44  StoveBurner     1.807          0.907          -0.320         0              180            0
  45  StoveBurner     1.543          0.907          -0.320         0              90             0
  46  CounterTop      0.989          0.946          -1.516         0              90             0
  47  Sink            1.100          0.906          -1.599         0              0              0
  48  StoveBurner     1.548          0.907          0.075          0              180            0
  49  Cabinet         1.658          2.299          1.313          0              0              0
  50  Cabinet         1.658          2.299          0.686          0              0              0
  51  Cabinet         1.658          2.049          0.673          0              0              0
  52  Cabinet         1.658          2.059          0.193          0              0              0
  53  Cabinet         1.658          2.059          -0.593         0              0              0
  54  Cabinet         1.658          2.049          -0.606         0              0              0
  55  Cabinet         1.658          2.049          -1.206         0              0              0
  56  Cabinet         1.658          2.049          -1.893         0              0              0
  57  Toaster         0.131          0.900          -1.589         0              0              0
  58  Window          -0.372         1.588          3.349          90             0              0
  59  Window          0.782          1.741          -1.893         90             0              0
  60  GarbageCan      1.770          -0.029         1.685          0              270            0
  61  SinkBasin       1.091          0.740          -1.599         0              0              0
  62  StoveKnob       1.364          0.821          0.086          48.421         270            0
  63  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  64  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  65  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  66  Microwave       1.752          0.900          -0.843         0              270            0
  67  LightSwitch     2.0            1.261          3.094          0              270            0
  68  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  69  Fridge          -0.533         0.0            -1.554         0              0              0
  70  Chair           1.068          0.000          1.752          0              191.622        0
  71  Faucet          1.110          1.138          -1.764         0              270            0
  72  Chair           0.357          0.000          1.710          0              178.899        0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: Turn around, move forward slightly, then turn right and head to the oven | STEP 2: Pick up the yellow-handled knife from the counter | STEP 3: Turn around and head to the wall, then turn right and move forward to the window, then turn right and move forward to the white door and turn right again to face the black container | STEP 4: look down at the black container and cut a piece of the tomato off | STEP 5: turn right and move forward to the white door, then turn left and move forward towards the refrigerator, the turn left and move forward slightly towards the oven, then turn right and head to the coffee maker | STEP 6: put the knife on the counter to the right of the fork and in front of the coffee maker | STEP 7: turn right and move forward slightly, then turn right and head to the window, then turn right and move forward to the white door, then turn right and face the black container | STEP 8: pick up the sliced tomato piece from the container | STEP 9: turn right and head to the white door, then turn left and move forward to the white refrigerator | STEP 10: open the refrigerator, place the tomato slice in the refrigerator, then close the refrigerator, wait a short time, then open the refrigerator and take out the tomato slice, then close the refrigerator | STEP 11: turn left, then move forward slightly, then turn right to face the coffee maker | STEP 12: put the tomato slice on the counter to the right of the knife and in front of the coffee maker | END