Task: To put a cooled plus sliced tomato on the table to the right of 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           -1.0           1.124          -1.25          0              180            0
   1  Pan             -0.239         1.331          -3.301         0              180            0              42
   2  Pan             -1.790         1.322          -2.201         0              0              0              47
   3  Potato          0.957          1.985          1.788          0              270            0              60
   4  Potato          1.246          1.350          0.861          0              270            0              72
   5  DishSponge      -1.363         1.322          -0.567         0              0              0              47
   6  Kettle          -0.749         1.332          -2.973         0              0              0              50
   7  Spoon           -2.049         1.324          0.770          0              0              0              47
   8  Spoon           0.563          1.324          -2.789         0              0              0              47
   9  Cup             -1.790         1.320          1.744          0              0              0              47
  10  Plate           -1.681         0.344          0.512          0              0              0              45
  11  Plate           -1.750         0.344          1.110          0              0              0              48
  12  SoapBottle      -1.602         0.344          -2.063         0              0              0              43
  13  Tomato          1.017          1.791          2.348          0              270            0              60
  14  Tomato          0.938          1.709          1.663          0              270            0              60
  15  SaltShaker      -1.727         0.338          -1.763         0              0              0              43
  16  PepperShaker    -1.913         0.338          -1.763         0              0              0              43
  17  PepperShaker    0.671          0.339          -1.957         0              180            0              46
  18  Apple           -1.451         1.371          -3.203         0              0              0              47
  19  Bread           0.349          1.397          -3.121         0              0              0              47
  20  Pot             -1.577         1.310          -1.584         0              0              0              47
  21  Knife           -1.915         1.365          -1.186         0              0              0              54
  22  Bowl            -1.886         0.342          1.420          0              0              0              48
  23  Potato          -1.165         1.362          -3.092         0              0              0              47
  24  SoapBottle      -1.451         1.323          -2.870         0              0              0              47
  25  Fork            -1.401         1.323          -2.721         0              90             0              47
  26  Cup             0.976          0.342          -2.061         0              180            0              46
  27  Kettle          -0.630         1.331          -3.301         0              180            0              44
  28  Egg             1.110          1.248          1.254          0              0              0              72
  29  Pan             1.025          1.322          -2.053         0              90             0              47
  30  SaltShaker      0.206          1.318          -2.678         0              0              0              47
  31  WineBottle      0.976          0.345          -2.371         0              180            0              46
  32  Lettuce         -1.826         1.140          -0.496         0              0              0              65
  33  Spatula         -1.698         1.066          -0.633         0              90             0              65
  34  PaperTowelRoll  -1.610         0.384          2.316          0              270            0              62
  35  Tomato          -1.920         1.356          -1.681         0              0              0              47
  36  Plate           0.976          0.345          -1.854         0              180            0              46
  37  PepperShaker    -1.727         0.338          -2.162         0              0              0              43
  38  DishSponge      -2.004         1.336          -1.255         0              0              0              54
  39  Spoon           0.861          1.208          1.222          0              0              0              72
  40  Apple           -1.610         0.329          2.193          0              270            0              62
  41  Mug             -2.093         1.329          -1.186         0              0              0              54
  42  StoveBurner     -0.239         1.325          -3.301         0              180            0
  43  Cabinet         -1.461         0.775          -2.002         0              0              0
  44  StoveBurner     -0.630         1.325          -3.301         0              180            0
  45  Cabinet         -1.461         0.775          0.470          0              0              0
  46  Cabinet         0.578          0.776          -2.054         0              0              0
  47  CounterTop      -1.809         1.358          1.182          0              0              0
  48  Cabinet         -1.461         0.775          1.310          0              0              0
  49  Faucet          -2.063         1.362          -0.726         0              39.391         0
  50  StoveBurner     -0.749         1.325          -2.973         0              0              0
  51  Drawer          -1.610         0.681          -0.430         0              0              0
  52  Window          -2.566         1.799          -0.822         270            0              0
  53  Drawer          -1.610         0.681          -1.217         0              0              0
  54  Sink            -1.990         1.143          -0.975         0              0              0
  55  StoveBurner     -0.125         1.325          -2.973         0              0              0
  56  StoveKnob       -0.185         1.338          -2.741         0              270            180
  57  StoveKnob       -0.336         1.338          -2.741         0              270            180
  58  StoveKnob       -0.569         1.338          -2.741         0              270            180
  59  StoveKnob       -0.707         1.338          -2.741         0              270            180
  60  Fridge          1.013          0.227          1.917          0              270            0
  61  Microwave       0.994          1.310          -2.163         0              270            0
  62  GarbageCan      -1.633         0.212          2.192          0              270            0
  63  LightSwitch     1.386          1.565          -0.657         0              270            0
  64  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  65  SinkBasin       -1.835         1.039          -0.542         0              0              0
  66  ButterKnife     0.873          0.468          0.651          0              0              0
  67  Toaster         -1.885         1.310          -2.512         0              90             0
  68  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  69  Drawer          0.647          1.061          0.680          0              270            0
  70  Drawer          0.648          1.061          1.020          0              270            0
  71  Drawer          0.648          0.843          1.020          0              270            0
  72  SideTable       0.975          0.220          0.869          0              270            0
  73  Drawer          0.648          0.602          0.680          0              270            0
  74  Drawer          0.648          0.596          1.020          0              270            0
  75  Drawer          0.648          0.843          0.680          0              270            0
  76  Stool           0.606          0.222          -1.084         1.233          280.489        0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn right to face the left side of the sink. | STEP 2: Pick up the knife on the left side of the sink. | STEP 3: Turn around and walk across the room to face the microwave. | STEP 4: Place the knife on the left edge of the table the microwave is on. | STEP 5: Take a step to the left to face the fridge. | STEP 6: Remove the tomato from the fridge. | STEP 7: Step to the right to face the table to the right of the fridge. | STEP 8: Place the tomato on the left side of the table. | STEP 9: Pick up the knife on the left side of the table. | STEP 10: Cut the tomato on the counter into slices. | END