Task: Put a clean piece of sliced tomato on the round table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          2.75           0              270            0
   1  Pan             1.328          0.957          -1.420         0              180            0              59
   2  Pan             1.328          0.957          -1.688         0              180            0              58
   3  Book            -2.321         0.875          3.073          0              270            0              57
   4  Book            -2.996         0.875          3.296          0              270            0              57
   5  DishSponge      -0.367         0.707          -1.573         0              270            0              84
   6  ButterKnife     -2.539         0.878          3.102          0              315            0              57
   7  Pot             -1.961         0.914          -0.939         0              0              0              55
   8  Fork            -2.248         0.875          3.527          0              225            0              57
   9  Egg             -0.377         0.414          2.025          0              180            0              80
  10  Cup             -0.377         0.801          2.194          0              180            0              80
  11  Plate           -2.659         0.878          3.559          0              0              0              57
  12  Plate           0.307          1.576          2.219          0              180            0              80
  13  Knife           -0.942         0.934          -1.471         0              90             0              55
  14  SoapBottle      1.616          0.115          -1.375         0              0              0              61
  15  Bowl            -0.149         1.141          2.206          0              180            0              80
  16  Bowl            -2.353         0.876          2.811          0              135            0              57
  17  SaltShaker      -0.943         1.650          -1.788         0              0              0              67
  18  SaltShaker      0.677          0.714          -1.410         0              0              0              72
  19  PepperShaker    -1.982         0.714          -1.579         0              0              0              74
  20  Bread           -1.961         0.995          -0.288         0              0              0              55
  21  Mug             3.662          0.875          1.554          0              90             0              76
  22  Mug             -1.112         0.958          -1.479         0              0              0              92
  23  Book            -1.516         0.908          0.037          0              0              0              55
  24  Fork            -2.472         0.879          3.513          0              225            0              57
  25  Tomato          0.234          0.975          -1.429         0              270            0              52
  26  Egg             -0.377         1.169          2.246          0              180            0              80
  27  Kettle          -0.833         0.900          -1.757         0              0              0              55
  28  Vase            -1.888         1.658          -1.710         0              0              0              51
  29  Cup             1.316          1.759          -1.596         0              0              0              79
  30  WineBottle      -1.961         0.913          0.363          0              0              0              55
  31  Plate           0.571          0.916          -1.776         0              0              0              55
  32  Spatula         -2.152         0.893          3.370          0              270            0              57
  33  Potato          1.614          0.946          -1.255         0              0              0              75
  34  Pot             0.974          0.957          -1.419         0              180            0              73
  35  Knife           -1.550         0.739          -0.788         0              270            0              70
  36  SaltShaker      -1.975         0.116          -1.799         0              0              0              56
  37  PepperShaker    -1.682         0.714          -0.788         0              0              0              70
  38  Lettuce         -2.458         0.943          3.737          0              225            0              57
  39  ButterKnife     -2.659         0.874          2.715          0              0              0              57
  40  Bread           -1.516         0.995          -1.591         0              0              0              55
  41  Vase            1.631          1.656          -1.709         0              0              0              65
  42  DishSponge      3.637          0.552          1.656          0              270            0              78
  43  Apple           -0.723         0.967          -1.267         0              0              0              55
  44  Pan             -1.627         0.911          0.363          0              0              0              55
  45  Spoon           -2.606         0.875          3.274          0              135            0              57
  46  SoapBottle      -0.897         0.193          2.174          0              90             0              85
  47  Mug             0.193          1.567          1.981          0              180            0              80
  48  Statue          3.676          0.168          1.410          0              334.521        0              78
  49  Statue          3.793          0.551          1.449          0              270            0              78
  50  Bowl            0.617          0.910          -1.369         0              0              0              55
  51  Cabinet         -2.171         2.009          -1.538         0              0              0
  52  Sink            0.024          0.771          -1.708         0              270            0
  53  Cabinet         1.444          2.259          -1.542         0              0              0
  54  StoveBurner     0.974          0.957          -1.688         0              180            0
  55  CounterTop      -1.866         0.947          -0.614         0              0              0
  56  Cabinet         -2.217         0.373          -1.874         0              0              0
  57  DiningTable     -2.663         0.002          3.208          0              0              0
  58  StoveBurner     1.328          0.957          -1.688         0              180            0
  59  StoveBurner     1.328          0.957          -1.420         0              180            0
  60  Cabinet         -1.478         0.373          -1.235         0              0              0
  61  Cabinet         1.775          0.372          -1.242         0              0              0
  62  Cabinet         0.774          0.372          -1.242         0              0              0
  63  Cabinet         0.375          0.372          -1.242         0              0              0
  64  Cabinet         -0.574         0.372          -1.238         0              0              0
  65  Cabinet         1.775          2.009          -1.542         0              0              0
  66  Cabinet         0.524          2.009          -1.542         0              0              0
  67  Cabinet         -0.714         2.009          -1.542         0              0              0
  68  Cabinet         -1.671         2.009          -1.538         0              0              0
  69  Cabinet         0.854          2.259          -1.542         0              0              0
  70  Drawer          -1.636         0.683          -0.930         0              0              0
  71  Drawer          1.650          0.682          -1.396         0              0              0
  72  Drawer          0.600          0.682          -1.396         0              0              0
  73  StoveBurner     0.974          0.957          -1.419         0              180            0
  74  Drawer          -2.062         0.683          -1.579         0              0              0
  75  CounterTop      1.645          0.945          -1.527         0              0              0
  76  Shelf           3.725          0.880          1.671          0              90             0
  77  LightSwitch     2.830          1.266          -0.748         0              0              0
  78  Shelf           3.726          0.552          1.671          0              90             0
  79  Microwave       1.150          1.655          -1.614         0              0              0
  80  Fridge          -0.035         0.0            2.177          0              180            0
  81  Window          -0.115         1.802          -1.896         90             0              0
  82  Window          -4.009         1.799          0.310          90             90             0
  83  Shelf           3.726          0.172          1.671          0              90             0
  84  SinkBasin       -0.330         0.686          -1.581         0              270            0
  85  GarbageCan      -0.870         -0.001         2.136          0              90             0
  86  StoveKnob       1.089          0.913          -1.243         45             0              0
  87  StoveKnob       1.208          0.913          -1.243         45             0              0
  88  StoveKnob       1.340          0.913          -1.243         45             0              0
  89  StoveKnob       0.961          0.913          -1.243         45             0              0
  90  Toaster         1.637          0.900          -1.673         0              0              0
  91  Chair           -3.505         0.002          3.290          0              105.736        0
  92  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  93  HousePlant      -2.663         0.835          3.209          0              0              0
  94  Faucet          -0.187         0.922          -1.75          0              311.166        0
  95  ShelvingUnit    3.726          0.006          1.671          0              90             0
  96  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  97  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  98  Chair           -2.934         0.002          2.437          0              28.531         0
  99  Chair           -1.698         0.002          3.235          0              245.204        0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn left and begin walking to the kitchen counter, then hang a left and walk around the island up to where the coffee machine is on the counter. | STEP 2: Pick up the large metal knife with a golden handle that is just to the left of the coffee machine. | STEP 3: Turn left and walk over to the area to the left of the sink. | STEP 4: Use the knife to slice up the tomato that is on the counter. | STEP 5: Turn right and walk over to the sink basin. | STEP 6: Place the large knife inside the sink basin point down. | STEP 7: Turn left and take a step forward, then turn right to face the counter. | STEP 8: Pick up a piece of sliced tomato.  | STEP 9: Turn right and take a step forward, then turn left to face the sink basin. | STEP 10: Place the piece of sliced tomato into the sink basin, then turn on the water, after a couple seconds turn off the water and remove the now clean piece of sliced tomato. | STEP 11: Turn right and walk over to the counter, then turn right again and walk over to the side of the round wooden table that is closest to the corner of the room. | STEP 12: Place the clean piece of sliced tomato onto the table just below the closest book that is on the table. | END