Task: Put a clean slice 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           1.0            0.900          1.0            0              270            0
   1  Book            -2.490         0.875          3.073          0              270            0              58
   2  DishSponge      -2.072         0.911          -1.265         0              0              0              56
   3  DishSponge      -2.807         0.878          2.884          0              0              0              58
   4  Kettle          -1.649         0.120          -0.766         0              0              0              61
   5  Kettle          0.974          0.957          -1.688         0              180            0              55
   6  Spatula         -1.849         0.927          -1.591         0              180            0              56
   7  Spatula         0.069          0.943          -1.790         0              180            0              53
   8  Fork            -2.510         0.875          3.221          0              0              0              58
   9  Spoon           -2.321         0.875          3.370          0              270            0              58
  10  Cup             -0.330         0.706          -1.573         0              270            0              85
  11  Knife           -2.964         0.900          3.632          0              135            0              58
  12  SoapBottle      0.709          0.912          -1.369         0              0              0              56
  13  SoapBottle      -1.516         0.912          -0.614         0              0              0              56
  14  Tomato          -3.122         0.922          2.968          0              225            0              58
  15  Tomato          -0.035         1.619          2.040          0              180            0              81
  16  Tomato          -3.165         0.925          3.296          0              270            0              58
  17  Bowl            -0.149         1.141          2.167          0              180            0              81
  18  PepperShaker    -2.072         0.908          0.037          0              0              0              56
  19  PepperShaker    -2.321         0.874          3.073          0              270            0              58
  20  Bread           -2.072         0.995          -0.288         0              0              0              56
  21  Bread           -2.659         0.961          3.559          0              0              0              58
  22  Mug             3.793          0.547          1.553          0              270            0              79
  23  Mug             -2.584         0.873          2.884          0              0              0              58
  24  Book            -1.94          0.900          -1.693         0              0              0              75
  25  Fork            0.571          0.912          -1.776         0              90             0              56
  26  Tomato          -2.248         0.922          2.916          0              135            0              58
  27  Egg             -1.568         0.929          -0.469         0              0              0              56
  28  Kettle          1.328          0.957          -1.688         0              180            0              59
  29  Vase            -2.152         0.879          3.221          0              270            0              58
  30  Cup             -2.673         0.876          2.997          0              225            0              58
  31  WineBottle      -0.181         0.122          -1.492         0              0              0              65
  32  Plate           -0.263         1.576          2.219          0              180            0              81
  33  Spatula         -1.682         0.734          -0.859         0              270            0              71
  34  Potato          -2.659         0.911          3.370          0              270            0              58
  35  Pot             1.328          0.957          -1.420         0              180            0              60
  36  Knife           -2.828         0.900          3.370          0              270            0              58
  37  SaltShaker      1.724          0.906          -1.437         0              0              0              76
  38  PepperShaker    -1.583         0.716          -0.930         0              0              0              71
  39  Lettuce         -2.996         0.939          3.296          0              270            0              58
  40  ButterKnife     0.124          0.928          -1.646         0              270            0              53
  41  Bread           -1.601         0.980          -0.837         0              334.888        0              56
  42  Vase            1.648          0.115          -1.450         0              0              0              62
  43  DishSponge      -0.459         0.121          -1.373         0              0              0              65
  44  Apple           0.079          1.199          2.127          0              180            0              81
  45  Pan             0.972          0.959          -1.426         0              0              0              74
  46  Spoon           -0.330         0.698          -1.626         0              270            0              85
  47  SoapBottle      -0.237         0.122          -1.373         0              0              0              65
  48  Mug             -0.035         0.797          2.080          0              180            0              81
  49  Statue          3.676          0.168          1.410          0              334.521        0              79
  50  Statue          3.668          0.540          1.800          0              0              0              79
  51  Bowl            -1.888         1.655          -1.710         0              0              0              52
  52  Cabinet         -2.171         2.009          -1.538         0              0              0
  53  Sink            0.024          0.771          -1.708         0              270            0
  54  Cabinet         1.444          2.259          -1.542         0              0              0
  55  StoveBurner     0.974          0.957          -1.688         0              180            0
  56  CounterTop      -1.866         0.947          -0.614         0              0              0
  57  Cabinet         -2.217         0.373          -1.874         0              0              0
  58  DiningTable     -2.663         0.002          3.208          0              0              0
  59  StoveBurner     1.328          0.957          -1.688         0              180            0
  60  StoveBurner     1.328          0.957          -1.420         0              180            0
  61  Cabinet         -1.478         0.373          -1.235         0              0              0
  62  Cabinet         1.775          0.372          -1.242         0              0              0
  63  Cabinet         0.774          0.372          -1.242         0              0              0
  64  Cabinet         0.375          0.372          -1.242         0              0              0
  65  Cabinet         -0.574         0.372          -1.238         0              0              0
  66  Cabinet         1.775          2.009          -1.542         0              0              0
  67  Cabinet         0.524          2.009          -1.542         0              0              0
  68  Cabinet         -0.714         2.009          -1.542         0              0              0
  69  Cabinet         -1.671         2.009          -1.538         0              0              0
  70  Cabinet         0.854          2.259          -1.542         0              0              0
  71  Drawer          -1.636         0.683          -0.930         0              0              0
  72  Drawer          1.650          0.682          -1.396         0              0              0
  73  Drawer          0.600          0.682          -1.396         0              0              0
  74  StoveBurner     0.974          0.957          -1.419         0              180            0
  75  Drawer          -2.062         0.683          -1.579         0              0              0
  76  CounterTop      1.645          0.945          -1.527         0              0              0
  77  Shelf           3.725          0.880          1.671          0              90             0
  78  LightSwitch     2.830          1.266          -0.748         0              0              0
  79  Shelf           3.726          0.552          1.671          0              90             0
  80  Microwave       1.150          1.655          -1.614         0              0              0
  81  Fridge          -0.035         0.0            2.177          0              180            0
  82  Window          -0.115         1.802          -1.896         90             0              0
  83  Window          -4.009         1.799          0.310          90             90             0
  84  Shelf           3.726          0.172          1.671          0              90             0
  85  SinkBasin       -0.330         0.686          -1.581         0              270            0
  86  GarbageCan      -0.870         -0.001         2.136          0              90             0
  87  StoveKnob       1.089          0.913          -1.243         45             0              0
  88  StoveKnob       1.208          0.913          -1.243         45             0              0
  89  StoveKnob       1.340          0.913          -1.243         45             0              0
  90  StoveKnob       0.961          0.913          -1.243         45             0              0
  91  Toaster         1.637          0.900          -1.673         0              0              0
  92  Chair           -3.505         0.002          3.290          0              105.736        0
  93  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  94  HousePlant      -2.663         0.835          3.209          0              0              0
  95  Faucet          -0.187         0.922          -1.75          0              311.166        0
  96  ShelvingUnit    3.726          0.006          1.671          0              90             0
  97  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  98  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  99  Chair           -2.934         0.002          2.437          0              28.531         0
 100  Chair           -1.698         0.002          3.235          0              245.204        0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Turn to your left then move forward to the sink | STEP 2: Pink up the knife on the left side of the sink | STEP 3: Turn to your right move a little the turn right head to the round table | STEP 4: Slice the tomato into pieces on the table | STEP 5: Turn around to your right, walk straight then left then head to the sink | STEP 6: Put the knife in the sink | STEP 7: Turn to your right,move a forward then head to the round table | STEP 8: Pick a slice of tomato | STEP 9: Turn to your right then left then head to the sink | STEP 10: Put the tomato in the sink and rinse it | STEP 11: Turn to your right move forward then right then head to the other side of the table on the left | STEP 12: Put the slice tomato beside the cabbage on the round table | END