Task: To Put a tomato slice on the black end table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -0.25          0              0              0
   1  Potato          -3.942         0.723          -0.187         0              0              0              75
   2  Potato          -0.252         1.318          -0.646         0              270            0              70
   3  DishSponge      -1.123         0.753          -3.534         0              0              0              46
   4  Spoon           -0.440         0.753          -2.632         0              270            0              45
   5  Spatula         -3.329         0.775          -3.421         0              289.125        0              76
   6  Cup             -0.164         1.939          -1.739         0              0              0              49
   7  Plate           -0.214         1.951          -1.108         0              0              0              48
   8  Knife           -0.315         0.966          -1.494         0              90             0              58
   9  Knife           -2.761         0.920          -0.290         0              270            0              77
  10  SoapBottle      -3.942         0.689          -0.491         0              90             0              75
  11  SoapBottle      -4.182         0.688          -0.369         0              270            0              75
  12  Tomato          -2.359         0.945          -0.290         0              270            0              77
  13  Tomato          -3.575         0.810          -3.128         0              334.125        0              76
  14  Bowl            -0.283         1.487          -0.994         0              270            0              70
  15  Bowl            -0.283         1.487          -0.297         0              270            0              70
  16  Bread           -3.789         0.841          -3.424         0              199.125        0              76
  17  Bread           -4.062         0.772          -0.369         0              0              0              75
  18  Lettuce         -2.761         0.985          -0.548         0              270            0              77
  19  SoapBottle      -3.642         0.758          -3.379         0              109.125        0              76
  20  Pot             -0.222         0.961          -1.845         0              180            0              42
  21  Fork            -2.962         0.895          -0.462         0              270            0              77
  22  Cup             -0.446         1.504          -3.730         0              45             0              52
  23  Tomato          -0.417         1.337          -0.762         0              270            0              70
  24  Pan             -0.222         0.961          -2.243         0              0              0              59
  25  Plate           -3.287         0.774          -3.298         0              244.125        0              76
  26  Bread           -3.364         0.976          -0.290         0              270            0              77
  27  Spatula         -0.157         0.956          -1.538         0              0              0              58
  28  Knife           -0.475         0.777          -2.685         0              270            0              45
  29  SaltShaker      -3.601         0.756          -3.261         0              109.125        0              76
  30  PepperShaker    -0.397         0.938          -2.670         0              0              0              40
  31  ButterKnife     -2.359         0.894          -0.376         0              270            0              77
  32  Apple           -2.359         0.956          -0.548         0              270            0              77
  33  DishSponge      -0.473         0.940          -1.406         0              0              0              58
  34  Potato          -0.293         1.318          -0.529         0              270            0              70
  35  Egg             -4.182         0.731          -0.126         0              0              0              75
  36  Spoon           -3.350         0.761          -2.922         0              199.125        0              76
  37  Lettuce         -0.321         1.579          -0.762         0              270            0              70
  38  Mug             -0.779         0.808          -3.549         0              135            0              69
  39  Bowl            -0.293         1.284          -0.297         0              270            0              70
  40  CounterTop      -1.937         0.977          -3.673         0              0              0
  41  StoveBurner     -0.437         0.924          -1.845         0              180            0
  42  StoveBurner     -0.222         0.924          -1.845         0              180            0
  43  StoveBurner     -0.437         0.924          -2.243         0              0              0
  44  Drawer          -0.500         0.779          -1.450         0              0              0
  45  Drawer          -0.481         0.777          -2.739         0              0              0
  46  Drawer          -1.154         0.782          -3.499         0              0              0
  47  Cabinet         -0.337         2.110          -0.390         0              0              0
  48  Cabinet         -0.337         2.110          -1.272         0              0              0
  49  Cabinet         -0.337         2.110          -1.631         0              0              0
  50  Cabinet         -0.337         2.110          -2.497         0              0              0
  51  Cabinet         -0.337         1.891          -1.286         0              0              0
  52  Cabinet         -0.346         1.891          -3.293         0              0              0
  53  Cabinet         -0.629         0.388          -2.513         0              0              0
  54  Cabinet         -0.633         0.388          -3.008         0              0              0
  55  Cabinet         -1.010         0.388          -3.368         0              0              0
  56  Cabinet         -0.629         0.388          -1.614         0              0              0
  57  Cabinet         -0.327         1.886          -2.513         0              0              0
  58  CounterTop      -0.326         0.976          -1.450         0              0              0
  59  StoveBurner     -0.222         0.924          -2.243         0              0              0
  60  Sink            -0.600         0.929          -3.388         0              0              0
  61  StoveKnob       -0.617         0.899          -1.833         315            90             180
  62  StoveKnob       -0.617         0.899          -2.129         315            90             180
  63  StoveKnob       -0.617         0.899          -2.289         315            90             180
  64  StoveKnob       -0.617         0.899          -1.975         315            90             180
  65  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  66  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  67  Window          -1.389         1.610          -4.113         90             0              0
  68  LightSwitch     -4.372         1.493          -1.031         0              90             0
  69  SinkBasin       -0.614         0.802          -3.384         0              315            0
  70  Fridge          -0.314         0.0            -0.646         0              0              0
  71  Toaster         -1.970         0.930          -3.763         0              0              0
  72  Microwave       -0.216         1.470          -2.054         0              270            0
  73  Blinds          -1.373         2.205          -3.961         0              0              0
  74  Faucet          -0.393         0.930          -3.614         270            225            0
  75  SideTable       -4.030         0.002          -0.301         0              185.034        0
  76  DiningTable     -3.586         0.000          -3.258         0              0              0
  77  DiningTable     -3.224         -0.003         -0.453         0              0              0
  78  Shelf           -4.030         0.259          -0.301         0              185.034        0
  79  Shelf           -4.030         0.489          -0.301         0              185.034        0
  80  EastWall
  81  EastWall
  82  SouthWall

Plan:
STEP 1: Turn right and look up to face the fridge. | STEP 2: Take the tomato out of the fridge. | STEP 3: Step to the left to face the counter. | STEP 4: Place the tomato on the counter. | STEP 5: Pick up the knife on the counter. | STEP 6: Cut the tomato on the counter into slices. | STEP 7: Place the knife on the counter. | STEP 8: Pick up a slice of tomato from on the counter. | STEP 9: Step to the right and look up to face the microwave. | STEP 10: Heat the tomato slice in the microwave and then remove it. | STEP 11: Turn around and walk across the room and turn right and step forward to face the black end table. | STEP 12: Place the tomato slice on the back of the black end table. | END