Task: Put tomato and a knife on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.900          -1.25          0              180            0
   1  Pan             -0.222         0.961          -2.243         0              0              0              62
   2  Potato          -0.134         1.607          -1.990         0              270            0              75
   3  DishSponge      -1.694         0.941          -3.517         0              0              0              43
   4  Fork            -2.962         0.895          -0.119         0              0              0              80
   5  Spoon           -3.882         0.691          -0.430         0              90             0              78
   6  Spoon           -2.761         0.895          -0.462         0              270            0              80
   7  Egg             -1.248         0.983          -3.595         0              0              0              43
   8  Egg             -3.631         0.801          -3.155         0              334.125        0              79
   9  Plate           -0.697         0.094          -3.304         0              45             0              58
  10  Plate           -3.364         0.908          -0.204         0              270            0              80
  11  Knife           -3.620         0.785          -3.319         0              199.125        0              79
  12  Knife           -0.078         0.966          -1.494         0              90             0              61
  13  SoapBottle      -3.565         0.892          -0.548         0              270            0              80
  14  Tomato          -2.359         0.945          -0.633         0              270            0              80
  15  Bowl            -0.334         1.284          -0.529         0              270            0              73
  16  Bowl            -4.122         0.689          -0.308         0              0              0              78
  17  SaltShaker      -0.427         0.078          -1.330         0              0              0              59
  18  SaltShaker      -3.942         0.687          -0.248         0              0              0              78
  19  PepperShaker    -0.214         1.934          -0.896         0              0              0              51
  20  Mug             -0.397         1.483          -0.645         0              270            0              73
  21  Apple           -0.201         1.636          -2.096         0              270            0              75
  22  SoapBottle      -3.364         0.892          -0.376         0              270            0              80
  23  Pot             -0.606         0.802          -3.419         0              315            0              72
  24  Fork            -0.157         0.941          -1.538         0              0              0              61
  25  Cup             -0.157         0.942          -1.362         0              0              0              61
  26  Tomato          -0.245         1.539          -0.413         0              270            0              73
  27  Pan             -0.437         0.961          -1.845         0              180            0              44
  28  Plate           -2.359         0.908          -0.462         0              270            0              80
  29  Bread           -2.560         0.976          -0.633         0              270            0              80
  30  Spatula         -3.890         0.775          -3.716         0              199.125        0              79
  31  Knife           -3.329         0.785          -3.421         0              109.125        0              79
  32  SaltShaker      -0.202         1.935          -1.950         0              0              0              52
  33  PepperShaker    -0.334         1.500          -3.399         0              45             0              55
  34  ButterKnife     -0.321         0.942          -2.906         0              0              0              43
  35  Apple           -0.268         1.636          -1.990         0              270            0              75
  36  DishSponge      -0.315         0.940          -1.362         0              0              0              61
  37  Potato          -0.393         0.846          -3.241         0              315            0              72
  38  Egg             -4.242         0.732          -0.491         0              0              0              78
  39  Spoon           -4.002         0.692          -0.430         0              0              0              78
  40  Lettuce         -3.565         0.985          -0.376         0              270            0              80
  41  Mug             -0.136         1.937          -0.500         0              0              0              50
  42  Bowl            -0.252         1.284          -0.994         0              270            0              73
  43  CounterTop      -1.937         0.977          -3.673         0              0              0
  44  StoveBurner     -0.437         0.924          -1.845         0              180            0
  45  StoveBurner     -0.222         0.924          -1.845         0              180            0
  46  StoveBurner     -0.437         0.924          -2.243         0              0              0
  47  Drawer          -0.500         0.779          -1.450         0              0              0
  48  Drawer          -0.481         0.777          -2.739         0              0              0
  49  Drawer          -1.154         0.782          -3.499         0              0              0
  50  Cabinet         -0.337         2.110          -0.390         0              0              0
  51  Cabinet         -0.337         2.110          -1.272         0              0              0
  52  Cabinet         -0.337         2.110          -1.631         0              0              0
  53  Cabinet         -0.337         2.110          -2.497         0              0              0
  54  Cabinet         -0.337         1.891          -1.286         0              0              0
  55  Cabinet         -0.346         1.891          -3.293         0              0              0
  56  Cabinet         -0.629         0.388          -2.513         0              0              0
  57  Cabinet         -0.633         0.388          -3.008         0              0              0
  58  Cabinet         -1.010         0.388          -3.368         0              0              0
  59  Cabinet         -0.629         0.388          -1.614         0              0              0
  60  Cabinet         -0.327         1.886          -2.513         0              0              0
  61  CounterTop      -0.326         0.976          -1.450         0              0              0
  62  StoveBurner     -0.222         0.924          -2.243         0              0              0
  63  Sink            -0.600         0.929          -3.388         0              0              0
  64  StoveKnob       -0.617         0.899          -1.833         315            90             180
  65  StoveKnob       -0.617         0.899          -2.129         315            90             180
  66  StoveKnob       -0.617         0.899          -2.289         315            90             180
  67  StoveKnob       -0.617         0.899          -1.975         315            90             180
  68  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  69  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  70  Window          -1.389         1.610          -4.113         90             0              0
  71  LightSwitch     -4.372         1.493          -1.031         0              90             0
  72  SinkBasin       -0.614         0.802          -3.384         0              315            0
  73  Fridge          -0.314         0.0            -0.646         0              0              0
  74  Toaster         -1.970         0.930          -3.763         0              0              0
  75  Microwave       -0.216         1.470          -2.054         0              270            0
  76  Blinds          -1.373         2.205          -3.961         0              0              0
  77  Faucet          -0.393         0.930          -3.614         270            225            0
  78  SideTable       -4.030         0.002          -0.301         0              185.034        0
  79  DiningTable     -3.586         0.000          -3.258         0              0              0
  80  DiningTable     -3.224         -0.003         -0.453         0              0              0
  81  Shelf           -4.030         0.259          -0.301         0              185.034        0
  82  Shelf           -4.030         0.489          -0.301         0              185.034        0
  83  EastWall
  84  EastWall
  85  SouthWall

Plan:
STEP 1: Turn to the left, go to the counter across the room between the fridge and stove. | STEP 2: Pick up the yellow handled knife that is on the counter.  | STEP 3: Turn around, go forward, hang a right and go to the white table where the tomato is. | STEP 4: Cut the tomato into slices. | STEP 5: Turn to the left, go to the small black table that is between the white table and the wall. | STEP 6: Put the knife down on the black table.  | STEP 7: Turn around, go to the end of the white table where the tomato is. | STEP 8: Pick up a slice of the tomato from the table. | STEP 9: Turn to the left, go to the small black table that is between the white table and the wall. | STEP 10: Put the tomato on the table in front of the leftmost spoon. | END