Task: Put the tomato in a plate, slice it, and bring the plate to 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           -0.25          0.914          2.5            0              0              0
   1  Potato          -1.666         0.821          3.774          0              0              0              76
   2  Potato          -0.673         1.306          4.062          0              180            0              72
   3  DishSponge      -1.921         0.789          3.774          0              0              0              76
   4  ButterKnife     -3.176         0.915          1.524          0              0              0              55
   5  Spatula         -3.272         0.910          3.828          358.815        180            0              46
   6  Fork            -3.559         0.916          1.357          0              0              0              55
   7  Pot             -0.439         0.988          3.926          0              270            0              72
   8  Egg             -1.729         0.824          3.588          0              0              0              76
   9  Cup             -0.556         0.722          3.817          0              180            0              72
  10  Cup             -3.272         0.915          1.106          0              0              0              55
  11  Knife           -1.711         0.939          4.146          0              0              0              46
  12  Knife           -3.272         0.939          1.440          0              270            0              55
  13  Tomato          -1.504         0.984          4.231          0              0              0              46
  14  Tomato          -1.857         0.858          3.625          0              0              0              76
  15  Tomato          -0.556         1.342          4.097          0              180            0              72
  16  SoapBottle      -3.081         0.915          1.189          0              0              0              55
  17  SoapBottle      -3.654         0.915          1.189          0              0              0              55
  18  Bowl            -3.505         1.545          2.120          0              90             0              77
  19  SaltShaker      -2.460         0.077          3.586          0              0              0              57
  20  PepperShaker    -3.538         1.451          3.729          0              0              0              63
  21  PepperShaker    -2.126         0.911          4.231          0              0              0              46
  22  Bread           -1.192         0.167          3.788          0              270            0              78
  23  Egg             -2.804         0.950          4.214          0              0              0              46
  24  Knife           -3.368         0.939          3.663          0              90             0              46
  25  Fork            -3.124         0.738          2.929          0              135            0              48
  26  Bread           -3.463         0.997          1.273          0              0              0              55
  27  Potato          -0.089         1.018          3.926          0              180            0              72
  28  Plate           -3.006         0.904          3.676          0              0              0              46
  29  Pot             -3.424         0.966          2.374          0              0              0              52
  30  Kettle          -3.143         0.966          1.971          0              0              0              66
  31  WineBottle      -1.707         0.081          3.547          0              0              0              51
  32  Bowl            -3.654         0.914          1.524          0              0              0              55
  33  Tomato          -3.272         0.984          3.008          0              0              0              46
  34  Cup             -3.081         0.915          1.357          0              0              0              55
  35  Spatula         -2.904         0.935          3.783          0              180            10.240         46
  36  SoapBottle      -1.565         0.080          3.547          0              0              0              51
  37  Lettuce         -3.559         1.001          2.844          0              0              0              46
  38  Pan             -3.424         0.966          1.971          0              0              0              54
  39  Apple           -0.790         1.601          4.170          0              180            0              72
  40  SaltShaker      -3.540         1.455          1.454          0              0              0              64
  41  PepperShaker    -3.368         0.912          1.106          0              0              0              55
  42  ButterKnife     -2.402         0.915          3.675          0              0              0              46
  43  DishSponge      -2.800         0.079          3.701          0              0              0              58
  44  Spoon           -2.126         0.916          4.104          0              270            0              46
  45  Mug             -3.424         0.945          3.275          0              90             0              46
  46  CounterTop      -3.381         0.950          3.335          0              0              0
  47  Drawer          -3.121         0.775          1.357          0              0              0
  48  Drawer          -3.121         0.777          2.916          0              0              0
  49  StoveBurner     -3.148         0.958          2.374          0              0              0
  50  Sink            -1.797         0.917          3.660          0              0              0
  51  Cabinet         -1.421         0.388          3.459          0              0              0
  52  StoveBurner     -3.424         0.958          2.374          0              0              0
  53  Cabinet         -3.365         1.931          2.676          0              0              0
  54  StoveBurner     -3.424         0.958          1.971          0              0              0
  55  CounterTop      -3.381         0.951          1.356          0              0              0
  56  Drawer          -3.121         0.781          3.295          0              0              0
  57  Cabinet         -2.205         0.388          3.459          0              0              0
  58  Cabinet         -2.963         0.388          3.459          0              0              0
  59  Cabinet         -2.992         0.388          2.683          0              0              0
  60  Cabinet         -3.352         2.205          1.715          0              0              0
  61  Cabinet         -3.352         2.205          2.653          0              0              0
  62  Cabinet         -2.189         0.388          3.466          0              0              0
  63  Cabinet         -3.365         1.931          3.963          0              0              0
  64  Cabinet         -3.365         1.931          1.056          0              0              0
  65  Cabinet         -2.992         0.388          1.037          0              0              0
  66  StoveBurner     -3.143         0.958          1.971          0              0              0
  67  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  68  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  69  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  70  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  71  Toaster         -2.654         0.902          4.064          0              180            0
  72  Fridge          -0.439         0.014          3.996          0              0              0
  73  LightSwitch     0.25           1.383          2.085          0              270            0
  74  Window          -1.430         1.338          -0.347         90             0              0
  75  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  76  SinkBasin       -1.802         0.778          3.700          0              0              0
  77  Microwave       -3.484         1.430          2.182          0              90             0
  78  GarbageCan      -1.184         -0.020         3.794          0              270            0
  79  Blinds          -1.404         2.092          -0.296         0              0              0
  80  Stool           -1.373         0.014          1.048          1.214          20.754         0
  81  Faucet          -1.788         0.903          3.931          270            90             0
  82  DiningTable     -1.399         0.010          0.238          0              0              0
  83  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Go forward, turn left, go to the counter | STEP 2: Pick up the tomato on the counter | STEP 3: Turn right to the counter | STEP 4: Put the tomato in the plate | STEP 5: Pick up the knife on the counter | STEP 6: Slice the tomato in the plate | STEP 7: Put the knife in the plate | STEP 8: Pick up the plate from the counter | STEP 9: Turn right, go forward, turn right, go forward, turn right and face the table | STEP 10: Put the plate on the table | END