Task: Put a chilled tomato slice on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          3.5            0              270            0
   1  Pan             1.562          0.988          3.848          0              0              0              52
   2  Potato          1.135          1.027          4.716          0              0              0              59
   3  Potato          1.442          0.925          1.983          0              90             0              81
   4  ButterKnife     0.125          0.760          6.851          0              225            0              94
   5  Spoon           -0.003         0.761          6.416          0              180            0              94
   6  Spoon           1.236          0.772          3.360          0              0              0              51
   7  Spatula         0.871          0.787          0.619          0              270            0              50
   8  Fork            0.735          0.772          0.395          0              90             0              50
   9  Egg             1.924          1.565          5.251          0              270            0              80
  10  Cup             2.051          1.511          5.501          0              270            0              80
  11  Plate           1.573          0.141          2.794          0              0              0              70
  12  Plate           1.238          0.141          2.498          0              0              0              70
  13  Knife           0.056          0.801          0.563          0              270            0              55
  14  Knife           1.387          0.920          2.034          0              90             0              81
  15  Tomato          -0.346         0.809          6.323          0              0              0              94
  16  Tomato          -0.621         0.809          6.604          0              270            0              94
  17  SoapBottle      0.102          0.760          6.305          0              135            0              94
  18  PepperShaker    0.847          0.987          0.120          0              0              0              58
  19  SaltShaker      0.028          0.755          6.014          0              0              0              94
  20  Mug             0.150          0.755          6.666          0              270            0              94
  21  Mug             1.585          2.202          4.131          0              0              0              46
  22  Apple           2.009          1.590          5.626          0              270            0              80
  23  Bowl            0.262          0.143          0.429          0              0              0              67
  24  Bread           1.099          1.048          0.434          0              0              0              58
  25  Egg             -0.034         0.810          6.478          0              0              0              94
  26  Knife           1.582          1.022          0.440          0              0              0              58
  27  Fork            -0.611         0.993          0.212          0              0              0              58
  28  Apple           -0.221         0.834          6.941          0              0              0              94
  29  Kettle          0.256          0.761          6.240          0              135            0              94
  30  Plate           0.562          1.580          0.251          0              0              0              72
  31  SaltShaker      -0.275         0.139          0.353          0              0              0              66
  32  Lettuce         -0.034         0.848          6.787          0              0              0              94
  33  SoapBottle      -0.221         0.760          6.787          0              0              0              94
  34  Spatula         1.124          0.786          3.223          0              90             0              51
  35  PaperTowelRoll  -0.535         1.096          0.303          0              0              0              58
  36  Pot             1.317          0.988          4.294          0              0              0              53
  37  Potato          2.051          1.550          5.376          0              270            0              80
  38  ButterKnife     -0.487         0.760          6.807          0              135            0              94
  39  PepperShaker    1.490          0.135          3.513          0              0              0              69
  40  Pan             1.32           0.988          3.848          0              0              0              57
  41  Tomato          2.006          0.130          6.439          0              0              0              82
  42  DishSponge      0.192          0.771          0.618          0              0              0              55
  43  Cup             -0.552         0.140          0.429          0              0              0              66
  44  Spoon           -0.549         0.773          0.620          0              0              0              54
  45  Mug             -0.029         0.755          6.172          0              135            0              94
  46  Cabinet         1.307          2.455          4.360          0              0              0
  47  Cabinet         1.054          0.422          1.710          0              0              0
  48  Drawer          1.280          0.808          4.718          0              0              0
  49  Cabinet         1.307          2.455          3.607          0              0              0
  50  Drawer          0.736          0.802          0.521          0              0              0
  51  Drawer          1.276          0.802          3.291          0              0              0
  52  StoveBurner     1.562          0.982          3.848          0              0              0
  53  StoveBurner     1.317          0.982          4.294          0              0              0
  54  Drawer          -0.482         0.802          0.521          0              0              0
  55  Drawer          0.124          0.802          0.521          0              0              0
  56  StoveBurner     1.559          0.982          4.294          0              0              0
  57  StoveBurner     1.320          0.982          3.848          0              0              0
  58  CounterTop      1.391          1.028          0.897          0              0              0
  59  CounterTop      1.391          1.028          4.716          0              0              0
  60  Cabinet         1.054          0.422          4.548          0              0              0
  61  Cabinet         1.317          2.134          0.517          0              0              0
  62  Cabinet         1.317          2.134          4.889          0              0              0
  63  Cabinet         1.317          2.134          3.095          0              0              0
  64  Cabinet         0.443          0.422          0.743          0              0              0
  65  Cabinet         1.270          2.134          0.434          0              0              0
  66  Cabinet         -0.775         0.422          0.743          0              0              0
  67  Cabinet         -0.168         0.422          0.743          0              0              0
  68  Cabinet         1.317          2.134          1.534          0              0              0
  69  Cabinet         1.054          0.422          2.990          0              0              0
  70  Cabinet         1.054          0.422          2.944          0              0              0
  71  Cabinet         -0.263         2.134          0.434          0              0              0
  72  Cabinet         0.252          2.134          0.434          0              0              0
  73  Sink            1.391          1.006          2.326          0              0              0
  74  Microwave       0.108          0.981          0.262          0              0              0
  75  HousePlant      -0.165         0.826          6.444          0              0              0
  76  CoffeeMachine   1.551          0.982          0.953          0              270            0
  77  Toaster         1.473          0.981          4.715          0              270            0
  78  Window          -2.065         1.916          3.626          90             90             0
  79  Window          1.763          2.007          2.299          90             270            0
  80  Fridge          2.035          0.0            5.625          0              0              0
  81  SinkBasin       1.387          0.880          2.338          0              90             0
  82  GarbageCan      2.001          -0.044         6.503          0              0              0
  83  StoveKnob       1.140          0.934          3.987          45             270            0
  84  StoveKnob       1.140          0.934          4.309          45             270            0
  85  StoveKnob       1.140          0.934          4.140          45             270            0
  86  StoveKnob       1.140          0.934          3.824          45             270            0
  87  Vase            -0.226         0.834          6.993          0              0              0
  88  Vase            2.098          0.043          7.070          0              257.232        0
  89  Vase            -0.594         0.835          6.130          0              225            0
  90  LightSwitch     -2.0           1.549          6.045          0              90             0
  91  Safe            2.046          1.072          7.054          0              257.232        0
  92  Faucet          1.534          1.025          2.371          0              294.391        0
  93  Blinds          1.738          2.563          2.312          0              90             0
  94  DiningTable     -0.156         0.000          6.474          0              0              0
  95  Chair           0.291          0.002          6.142          0              310.162        0
  96  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn right and go to the right side of the gray table across the kitchen.  | STEP 2: Pick up the gray knife from the table.  | STEP 3: Go around the table to the front.  | STEP 4: Slice the tomato near the white mug. | STEP 5: Turn right and go to the cabinet below counter on the right of the refrigerator. | STEP 6: Place the knife in the cabinet.  | STEP 7: Turn around and go back to the gray table. | STEP 8: Pick up one end slice of tomato from the table. | STEP 9: Turn right and go to the refrigerator.  | STEP 10: Chill the tomato slice in the refrigerator and take it out.  | STEP 11: Go back to the gray table. | STEP 12: Place the tomato slice on the table.  | END