Task: Put a clean tomato slice on a 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           -3.5           0.900          0.0            0              90             0
   1  Pan             0.079          1.571          2.040          0              180            0              87
   2  Book            -1.888         1.654          -1.710         0              0              0              75
   3  Book            -2.996         0.875          3.221          0              270            0              64
   4  ButterKnife     0.234          0.928          -1.573         0              270            0              59
   5  ButterKnife     -1.627         0.912          -0.288         0              0              0              62
   6  Pot             -3.069         0.880          3.527          0              135            0              64
   7  Spoon           -2.659         0.879          3.370          0              270            0              64
   8  Egg             0.307          0.828          2.023          0              180            0              87
   9  Egg             0.307          0.414          2.083          0              180            0              87
  10  Cup             -0.367         0.695          -1.468         0              270            0              91
  11  Plate           -2.644         0.882          2.997          0              135            0              64
  12  Plate           -0.999         1.658          -1.750         0              0              0              74
  13  Knife           -2.472         0.896          2.930          0              135            0              64
  14  Knife           -2.072         0.934          0.363          0              0              0              62
  15  SoapBottle      3.634          0.881          1.759          0              270            0              83
  16  Tomato          -2.510         0.922          3.728          0              0              0              64
  17  Tomato          -2.472         0.922          3.513          0              225            0              64
  18  Tomato          -3.165         0.922          2.999          0              270            0              64
  19  Bowl            -2.510         0.876          2.715          0              0              0              64
  20  Bowl            -2.733         0.876          3.728          0              0              0              64
  21  SaltShaker      0.677          0.714          -1.410         0              0              0              79
  22  SaltShaker      1.724          0.906          -1.346         0              0              0              82
  23  PepperShaker    1.029          2.153          -1.710         0              0              0              76
  24  PepperShaker    -1.583         0.716          -0.788         0              0              0              77
  25  Lettuce         -1.738         0.977          -0.614         0              0              0              62
  26  Mug             -0.149         0.383          1.967          0              180            0              87
  27  Mug             3.586          0.548          1.553          0              270            0              85
  28  Apple           -2.152         0.929          3.296          0              270            0              64
  29  Apple           1.104          1.816          -1.596         0              0              0              86
  30  Book            -2.300         0.875          2.863          0              135            0              64
  31  Fork            0.617          0.912          -1.674         0              0              0              62
  32  Tomato          -1.961         0.959          -0.614         0              0              0              62
  33  Egg             -0.035         0.414          2.083          0              180            0              87
  34  Kettle          -0.833         0.900          -1.757         0              0              0              62
  35  Vase            3.793          0.553          1.345          0              270            0              85
  36  Cup             0.079          0.387          2.083          0              180            0              87
  37  WineBottle      3.743          0.881          1.759          0              270            0              83
  38  Plate           -0.377         1.148          2.167          0              180            0              87
  39  Spatula         -2.898         0.893          2.983          0              315            0              64
  40  Potato          0.124          0.965          -1.790         0              270            0              59
  41  Pot             0.974          0.957          -1.688         0              180            0              61
  42  Knife           -0.833         0.934          -1.471         0              0              0              62
  43  SaltShaker      1.622          0.716          -1.443         0              0              0              78
  44  PepperShaker    -2.912         0.874          2.758          0              225            0              64
  45  Lettuce         -0.149         0.867          2.194          0              180            0              87
  46  ButterKnife     0.014          0.928          -1.573         0              270            0              59
  47  Bread           -1.961         0.995          0.037          0              0              0              62
  48  Vase            -1.516         0.913          -1.591         0              0              0              62
  49  DishSponge      -2.807         0.878          3.559          0              0              0              64
  50  Apple           -0.871         0.247          2.213          0              90             0              92
  51  Pan             1.328          0.957          -1.420         0              180            0              66
  52  Spoon           0.709          0.913          -1.369         0              0              0              62
  53  SoapBottle      -2.013         0.120          -1.580         0              0              0              63
  54  Mug             1.210          1.756          -1.629         0              180            0              86
  55  Statue          3.676          0.168          1.410          0              334.521        0              85
  56  Statue          3.668          0.540          1.800          0              0              0              85
  57  Bowl            -2.490         0.872          3.221          0              270            0              64
  58  Cabinet         -2.171         2.009          -1.538         0              0              0
  59  Sink            0.024          0.771          -1.708         0              270            0
  60  Cabinet         1.444          2.259          -1.542         0              0              0
  61  StoveBurner     0.974          0.957          -1.688         0              180            0
  62  CounterTop      -1.866         0.947          -0.614         0              0              0
  63  Cabinet         -2.217         0.373          -1.874         0              0              0
  64  DiningTable     -2.663         0.002          3.208          0              0              0
  65  StoveBurner     1.328          0.957          -1.688         0              180            0
  66  StoveBurner     1.328          0.957          -1.420         0              180            0
  67  Cabinet         -1.478         0.373          -1.235         0              0              0
  68  Cabinet         1.775          0.372          -1.242         0              0              0
  69  Cabinet         0.774          0.372          -1.242         0              0              0
  70  Cabinet         0.375          0.372          -1.242         0              0              0
  71  Cabinet         -0.574         0.372          -1.238         0              0              0
  72  Cabinet         1.775          2.009          -1.542         0              0              0
  73  Cabinet         0.524          2.009          -1.542         0              0              0
  74  Cabinet         -0.714         2.009          -1.542         0              0              0
  75  Cabinet         -1.671         2.009          -1.538         0              0              0
  76  Cabinet         0.854          2.259          -1.542         0              0              0
  77  Drawer          -1.636         0.683          -0.930         0              0              0
  78  Drawer          1.650          0.682          -1.396         0              0              0
  79  Drawer          0.600          0.682          -1.396         0              0              0
  80  StoveBurner     0.974          0.957          -1.419         0              180            0
  81  Drawer          -2.062         0.683          -1.579         0              0              0
  82  CounterTop      1.645          0.945          -1.527         0              0              0
  83  Shelf           3.725          0.880          1.671          0              90             0
  84  LightSwitch     2.830          1.266          -0.748         0              0              0
  85  Shelf           3.726          0.552          1.671          0              90             0
  86  Microwave       1.150          1.655          -1.614         0              0              0
  87  Fridge          -0.035         0.0            2.177          0              180            0
  88  Window          -0.115         1.802          -1.896         90             0              0
  89  Window          -4.009         1.799          0.310          90             90             0
  90  Shelf           3.726          0.172          1.671          0              90             0
  91  SinkBasin       -0.330         0.686          -1.581         0              270            0
  92  GarbageCan      -0.870         -0.001         2.136          0              90             0
  93  StoveKnob       1.089          0.913          -1.243         45             0              0
  94  StoveKnob       1.208          0.913          -1.243         45             0              0
  95  StoveKnob       1.340          0.913          -1.243         45             0              0
  96  StoveKnob       0.961          0.913          -1.243         45             0              0
  97  Toaster         1.637          0.900          -1.673         0              0              0
  98  Chair           -3.505         0.002          3.290          0              105.736        0
  99  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
 100  HousePlant      -2.663         0.835          3.209          0              0              0
 101  Faucet          -0.187         0.922          -1.75          0              311.166        0
 102  ShelvingUnit    3.726          0.006          1.671          0              90             0
 103  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 104  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 105  Chair           -2.934         0.002          2.437          0              28.531         0
 106  Chair           -1.698         0.002          3.235          0              245.204        0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: Turn left and begin walking across the room, then turn right and start walking, hang a left and walk over to the tomato on the counter. | STEP 2: Pick up the tomato off of the counter. | STEP 3: Turn around and walk forward, then hang a right and walk up to the sink. | STEP 4: Place the tomato in the back left corner of the sink basin. | STEP 5: Pick up the metal butter knife closest to the sink basin. | STEP 6: Slice up the tomato that is in the sink basin. | STEP 7: Put the knife handle down into the middle of the sink basin. | STEP 8: Pick up a piece of sliced tomato out of the sink basin. | STEP 9: Put the piece of sliced tomato into the sink basin, then turn on the water, after a couple seconds turn the water off and remove the tomato slice. | STEP 10: Turn right and walk over to the counter, then turn right again and walk around the counter to the round wooden table in the corner of the room. | STEP 11: Put the clean tomato slice on the table just below the closest book. | END