Task: Put a cold slice of tomato on a counter.

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 left, go to the counter to the left of stove top. | STEP 2: Take the knife above the bowl on the counter. | STEP 3: Turn around, go to the end of the counter, make a right, go past the counter, make a right, go towards the floor, face the black bin to the right. | STEP 4: Cut the tomato in the bin into pieces. | STEP 5: Go right, go to the end of the counter, turn left, go past the counter, go towards the counter to the right of the sink. | STEP 6: Put the knife in front of the coffee maker on the counter. | STEP 7: Turn around, go straight past the counter to the window, turn right, go to the door, turn right and face the black bin. | STEP 8: Take a slice of tomato from the bin. | STEP 9: Turn right, go straight past the counter, turn left, go straight to the fridge. | STEP 10: Put the tomato on the bottom shelf of the fridge in front of the green cup. Close then open the fridge door. Take the tomato from the fridge. | STEP 11: Go to the left to the counter to the left of the fridge. | STEP 12: Put the tomato to the left of the pepper on the counter. | END