Task: The robot should be able to slice and place a slice of tomato on a square pan in the fridge.

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          0.901          4.5            0              270            0
   1  Potato          -0.191         1.049          0.171          0              0              0              73
   2  Potato          -2.847         1.212          4.649          0              90             0              71
   3  DishSponge      -0.657         0.900          2.530          0              0              0              77
   4  Spatula         -2.583         0.915          2.177          0              180            0              75
   5  Spatula         -2.995         0.915          2.177          0              90             0              75
   6  Spoon           -0.572         0.901          2.731          0              0              0              77
   7  Pot             -1.770         0.927          0.433          0              0              0              54
   8  Pot             -0.535         0.928          4.274          0              0              0              58
   9  Egg             -0.228         0.933          3.133          0              0              0              77
  10  Egg             -0.835         0.831          0.226          0              0              0              72
  11  Cup             -2.764         1.186          4.649          0              90             0              71
  12  Cup             -0.228         0.900          3.334          0              0              0              77
  13  Plate           -0.304         1.777          0.160          0              0              0              53
  14  Plate           -0.486         0.904          2.329          0              0              0              77
  15  Knife           -2.628         0.961          3.395          0              0              0              61
  16  SoapBottle      -0.657         0.900          2.932          0              0              0              77
  17  Tomato          -2.549         0.999          3.488          0              0              0              61
  18  SaltShaker      -1.986         0.658          0.245          0              0              0              57
  19  PepperShaker    -0.228         0.896          2.932          0              0              0              77
  20  Apple           -2.847         1.242          4.278          0              90             0              71
  21  Apple           -0.403         1.074          0.235          0              0              0              73
  22  Egg             -3.022         0.968          3.302          0              0              0              61
  23  Plate           -2.738         0.303          4.575          0              90             0              71
  24  Fork            -2.628         0.936          3.673          0              0              0              61
  25  Bread           -2.686         0.957          2.309          0              0              0              75
  26  Apple           -0.143         0.956          2.731          0              0              0              77
  27  Lettuce         -2.785         1.015          3.302          0              90             0              61
  28  Spatula         -0.143         0.915          2.530          0              0              0              77
  29  Knife           -1.662         0.688          0.355          0              90             0              57
  30  Potato          -2.730         0.080          0.284          0              26.101         0              68
  31  Tomato          -0.400         0.964          2.731          0              0              0              77
  32  Cup             -1.180         0.795          0.281          0              0              0              72
  33  SaltShaker      -2.356         1.769          0.342          0              0              0              50
  34  PepperShaker    -2.549         0.931          3.302          0              0              0              61
  35  ButterKnife     -2.303         0.928          0.518          0              0              0              54
  36  SoapBottle      -0.143         0.900          2.932          0              90             0              77
  37  Pan             -0.250         0.926          4.651          0              0              0              56
  38  DishSponge      -2.377         0.900          2.441          0              0              0              75
  39  Pot             -0.400         0.900          3.133          0              90             0              77
  40  Spoon           -1.266         0.797          0.281          0              0              0              72
  41  Mug             -2.778         1.001          3.714          0              90             0              74
  42  Bowl            -0.858         1.770          0.205          0              0              0              52
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn around and face the stove. | STEP 2: Pick up the square pan from the back, right part of the stove.  | STEP 3: Turn back around and open the fridge. | STEP 4: Place the square pan on the top shelf. | STEP 5: Hold on to the fridge door and close it.  | STEP 6: Move to the left to the counter right next to the fridge. | STEP 7: Pick up the large knife that is on the front of the counter.  | STEP 8: Slice the tomato that is on the counter. | STEP 9: Pick up a slice of tomato.  | STEP 10: Turn Right and go to the fridge.  Open the door. | STEP 11: Place the tomato on the square pan in the fridge.  | END