Task: place a clean tomato slice down on the table in between two full tomatoes

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 over to the kitchen sink on the left side of the room | STEP 2: grab the butter knife off of the back side of the left side kitchen sink | STEP 3: turn right and walk over to the kitchen table in the corner of the room on the way right | STEP 4: slice up the tomato there on the table into slices | STEP 5: turn around and walk back over to the kitchen sink | STEP 6: place the butter knife down in the kitchen sink on the right | STEP 7: turn right and walk back over to the kitchen table in the right corner of the room | STEP 8: grab an tomato slice off of the kitchen table | STEP 9: turn around and walk back over to the sink | STEP 10: put the tomato slice in the kitchen sink on the right, rinse if off, and then take it back out | STEP 11: turn right and walk to the counter, turn right and walk to the fridge, turn left and walk to the wall at the end of the room, turn right and walk to the table, finally turn right to face table | STEP 12: place the tomato slice down on the table in between the two tomatoes there | END