Task: To cut a tomato and put a slice in the freezer.

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          2.75           0              90             0
   1  DishSponge      1.451          0.910          0.415          0              90             0              42
   2  Pot             1.807          0.909          0.075          0              180            0              43
   3  Fork            0.220          0.911          0.915          0              90             0              42
   4  Fork            0.455          0.911          -1.793         0              180            0              46
   5  Spatula         0.963          0.775          -1.544         0              270            0              61
   6  Spatula         1.032          0.775          -1.710         0              90             0              61
   7  Egg             0.455          0.946          -1.352         0              90             0              46
   8  Egg             1.170          0.795          -1.599         0              0              0              61
   9  Cup             -0.692         0.458          -1.670         0              0              0              69
  10  Cup             -0.741         0.748          -1.559         0              0              0              69
  11  Knife           1.656          0.943          -1.717         0              90             0              46
  12  SoapBottle      1.740          2.134          1.198          0              0              0              49
  13  Tomato          1.739          0.134          1.684          0              270            0              60
  14  Tomato          1.757          0.974          1.004          0              90             0              42
  15  Tomato          0.732          0.974          0.739          0              90             0              42
  16  Bowl            1.796          0.910          -1.460         0              90             0              46
  17  SaltShaker      1.841          1.630          -1.338         0              0              0              55
  18  SaltShaker      1.808          1.634          0.263          0              0              0              51
  19  PepperShaker    1.762          0.905          0.363          0              270            0              42
  20  Plate           1.802          1.647          -0.000         0              0              0              52
  21  SoapBottle      1.769          1.643          -1.683         0              0              0              56
  22  Cup             -0.692         0.458          -1.348         0              0              0              69
  23  Egg             1.709          0.105          1.827          0              270            0              60
  24  Fork            0.476          0.911          1.092          0              90             0              42
  25  Ladle           1.808          1.683          0.487          0              0              0              51
  26  Apple           1.835          1.072          -0.676         0              270            0              66
  27  SaltShaker      1.875          1.640          -1.724         0              0              0              56
  28  Pan             1.281          0.900          1.190          0              0              0              42
  29  Tomato          1.762          0.974          0.518          0              90             0              42
  30  Spatula         1.501          0.925          0.915          0              90             0              42
  31  Potato          0.579          0.9            0.938          0              315            0              42
  32  Knife           1.865          0.943          -1.631         0              0              0              46
  33  ButterKnife     1.757          0.910          1.180          0              90             0              42
  34  Bread           1.245          0.987          0.739          0              90             0              42
  35  Lettuce         0.856          0.989          1.120          0              270            1.472          42
  36  PepperShaker    1.012          0.906          -1.230         0              90             0              46
  37  Pot             1.807          0.909          -0.320         0              180            0              44
  38  DishSponge      1.769          2.136          0.842          0              0              0              50
  39  Spoon           1.101          0.761          -1.544         0              180            0              61
  40  Bowl            0.193          0.900          1.170          0              0              0              42
  41  Mug             1.917          0.905          0.518          0              90             0              42
  42  CounterTop      0.989          0.946          1.016          0              90             0
  43  StoveBurner     1.807          0.907          0.075          0              180            0
  44  StoveBurner     1.807          0.907          -0.320         0              180            0
  45  StoveBurner     1.543          0.907          -0.320         0              90             0
  46  CounterTop      0.989          0.946          -1.516         0              90             0
  47  Sink            1.100          0.906          -1.599         0              0              0
  48  StoveBurner     1.548          0.907          0.075          0              180            0
  49  Cabinet         1.658          2.299          1.313          0              0              0
  50  Cabinet         1.658          2.299          0.686          0              0              0
  51  Cabinet         1.658          2.049          0.673          0              0              0
  52  Cabinet         1.658          2.059          0.193          0              0              0
  53  Cabinet         1.658          2.059          -0.593         0              0              0
  54  Cabinet         1.658          2.049          -0.606         0              0              0
  55  Cabinet         1.658          2.049          -1.206         0              0              0
  56  Cabinet         1.658          2.049          -1.893         0              0              0
  57  Toaster         0.131          0.900          -1.589         0              0              0
  58  Window          -0.372         1.588          3.349          90             0              0
  59  Window          0.782          1.741          -1.893         90             0              0
  60  GarbageCan      1.770          -0.029         1.685          0              270            0
  61  SinkBasin       1.091          0.740          -1.599         0              0              0
  62  StoveKnob       1.364          0.821          0.086          48.421         270            0
  63  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  64  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  65  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  66  Microwave       1.752          0.900          -0.843         0              270            0
  67  LightSwitch     2.0            1.261          3.094          0              270            0
  68  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  69  Fridge          -0.533         0.0            -1.554         0              0              0
  70  Chair           1.068          0.000          1.752          0              191.622        0
  71  Faucet          1.110          1.138          -1.764         0              270            0
  72  Chair           0.357          0.000          1.710          0              178.899        0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: Turn around and walk across the room, then turn left and walk forward and face the sink on the right. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk forward to face the tomato on the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Turn around and walk forward to face the fridge. | STEP 6: Place the knife in the fridge on the bottom shelf beside the cup. | STEP 7: Turn around and walk across the room to face the tomato on the counter. | STEP 8: Pick up a slice of tomato on the counter. | STEP 9: Turn to the right and walk over to face the microwave. | STEP 10: Heat the tomato slice in the microwave. | STEP 11: Turn around and walk forward and turn to the left to face the fridge. | STEP 12: Place the tomato slice in freezer on the top shelf. | END