Task: Put a washed tomato slice on 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           -1.0           1.124          -0.5           0              90             0
   1  Potato          0.938          1.796          2.171          0              270            0              63
   2  WineBottle      -1.634         0.281          2.110          0              270            0              65
   3  Fork            -1.530         1.323          -2.981         0              0              0              50
   4  Fork            -1.790         1.323          0.770          0              0              0              50
   5  Spatula         -2.049         1.337          1.744          0              0              0              50
   6  Spatula         -1.790         1.337          -2.721         0              270            0              50
   7  Pot             -0.239         1.331          -3.301         0              180            0              45
   8  Pot             -0.630         1.331          -3.301         0              180            0              47
   9  Plate           -1.920         1.323          -1.681         0              0              0              50
  10  Plate           -1.530         1.323          -1.941         0              0              0              50
  11  SoapBottle      -1.586         0.280          2.275          0              270            0              65
  12  SoapBottle      -1.884         0.344          0.512          0              0              0              48
  13  Tomato          1.285          1.356          -2.053         0              0              0              50
  14  Tomato          0.938          1.709          1.663          0              270            0              63
  15  SaltShaker      1.193          1.202          1.222          0              0              0              75
  16  SaltShaker      -1.530         1.318          1.094          0              0              0              50
  17  PepperShaker    -1.954         0.338          1.627          0              0              0              51
  18  PepperShaker    -1.884         0.338          0.713          0              0              0              48
  19  Lettuce         -2.049         1.399          -2.201         0              0              0              50
  20  Mug             0.965          1.371          -1.534         0              270            0              71
  21  Mug             0.976          0.339          -1.957         0              180            0              49
  22  Bread           -1.513         1.380          0.662          0              0              0              50
  23  Pot             1.155          1.329          -2.424         0              0              0              50
  24  Knife           1.025          1.352          -2.053         0              0              0              50
  25  Bowl            -1.614         0.342          0.713          0              0              0              48
  26  Potato          1.148          1.350          0.861          0              270            0              75
  27  SoapBottle      -1.954         0.344          1.213          0              0              0              51
  28  Fork            -1.645         0.420          -0.495         0              0              0              54
  29  Cup             1.095          1.754          2.112          0              270            0              63
  30  Kettle          -1.691         1.310          -3.156         0              150.000        0              50
  31  Egg             -2.179         1.363          -1.941         0              0              0              50
  32  Pan             -1.881         0.327          -2.035         0              0              0              46
  33  SaltShaker      0.420          1.318          -2.789         0              0              0              50
  34  WineBottle      -1.886         0.344          1.110          0              0              0              51
  35  Lettuce         -1.891         1.399          -1.065         7.125          0              355.856        57
  36  Spatula         -1.603         0.435          -0.298         0              270            0              54
  37  PaperTowelRoll  -1.634         0.384          2.193          0              0              0              65
  38  Tomato          1.095          1.709          1.545          0              270            0              63
  39  Plate           -1.682         0.344          1.523          0              0              0              51
  40  PepperShaker    0.861          1.202          1.238          0              0              0              75
  41  DishSponge      -1.308         1.322          -2.981         0              0              0              50
  42  Spoon           -1.687         0.421          -0.364         0              0              0              54
  43  Apple           -2.049         1.371          -2.721         0              0              0              50
  44  Mug             1.148          1.305          1.016          0              270            0              75
  45  StoveBurner     -0.239         1.325          -3.301         0              180            0
  46  Cabinet         -1.461         0.775          -2.002         0              0              0
  47  StoveBurner     -0.630         1.325          -3.301         0              180            0
  48  Cabinet         -1.461         0.775          0.470          0              0              0
  49  Cabinet         0.578          0.776          -2.054         0              0              0
  50  CounterTop      -1.809         1.358          1.182          0              0              0
  51  Cabinet         -1.461         0.775          1.310          0              0              0
  52  Faucet          -2.063         1.362          -0.726         0              39.391         0
  53  StoveBurner     -0.749         1.325          -2.973         0              0              0
  54  Drawer          -1.610         0.681          -0.430         0              0              0
  55  Window          -2.566         1.799          -0.822         270            0              0
  56  Drawer          -1.610         0.681          -1.217         0              0              0
  57  Sink            -1.990         1.143          -0.975         0              0              0
  58  StoveBurner     -0.125         1.325          -2.973         0              0              0
  59  StoveKnob       -0.185         1.338          -2.741         0              270            180
  60  StoveKnob       -0.336         1.338          -2.741         0              270            180
  61  StoveKnob       -0.569         1.338          -2.741         0              270            180
  62  StoveKnob       -0.707         1.338          -2.741         0              270            180
  63  Fridge          1.013          0.227          1.917          0              270            0
  64  Microwave       0.994          1.310          -2.163         0              270            0
  65  GarbageCan      -1.633         0.212          2.192          0              270            0
  66  LightSwitch     1.386          1.565          -0.657         0              270            0
  67  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  68  SinkBasin       -1.835         1.039          -0.542         0              0              0
  69  ButterKnife     0.873          0.468          0.651          0              0              0
  70  Toaster         -1.885         1.310          -2.512         0              90             0
  71  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  72  Drawer          0.647          1.061          0.680          0              270            0
  73  Drawer          0.648          1.061          1.020          0              270            0
  74  Drawer          0.648          0.843          1.020          0              270            0
  75  SideTable       0.975          0.220          0.869          0              270            0
  76  Drawer          0.648          0.602          0.680          0              270            0
  77  Drawer          0.648          0.596          1.020          0              270            0
  78  Drawer          0.648          0.843          0.680          0              270            0
  79  Stool           0.606          0.222          -1.084         1.233          280.489        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn right and go to the front of the counter with the coffee machine on top. | STEP 2: Pick up the yellow knife between the coffee machine and the gray pot.  | STEP 3: Move forward slightly towards the red tomato on the back of the counter. | STEP 4: Slice the red tomato on the counter.  | STEP 5: Turn left and go to the small black table with the microwave on top on the right.  | STEP 6: Place the knife on the top of the table on the right side of the salt shaker.  | STEP 7: Turn right and go back to the counter with the sliced red tomato.  | STEP 8: Pick up one slice from the counter.  | STEP 9: Turn around and go to the sink across the kitchen on the right. | STEP 10: Wash the tomato slice in the sink under running water. | STEP 11: Turn around and go to the small black table with the microwave on top.  | STEP 12: Place the tomato slice on the left front edge in front of the salt shaker.  | END