Task: Put a clean tomato slice in the refrigerator.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          -1.25          0              270            0
   1  Pan             0.217          1.111          -0.506         0              0              0              64
   2  Statue          0.217          1.110          -0.001         0              0              0              64
   3  CreditCard      0.324          0.907          -2.484         0              0              0              66
   4  Plate           0.324          0.907          -2.330         0              0              0              66
   5  Plate           -1.765         0.126          0.248          0              90             0              70
   6  Cup             -0.335         1.109          -0.253         0              0              0              64
   7  Cup             -0.335         1.109          0.757          0              0              0              64
   8  Egg             -1.742         0.804          -1.673         0              90             0              99
   9  Egg             -1.962         0.083          2.124          0              270            0              95
  10  SoapBottle      -1.738         0.479          -0.051         0              90             0              79
  11  SoapBottle      -0.335         1.112          0.251          0              0              0              64
  12  SaltShaker      -1.738         0.474          -0.148         0              90             0              79
  13  PepperShaker    -1.008         0.133          -2.352         0              0              0              82
  14  PepperShaker    -1.608         0.474          -0.293         0              90             0              79
  15  Bread           -1.290         0.983          -2.406         0              0              0              89
  16  Knife           -0.197         1.136          -0.253         0              90             0              64
  17  Fork            -0.197         1.112          0.504          0              0              0              64
  18  Fork            -0.335         1.112          -0.001         0              0              0              64
  19  Mug             -0.277         1.785          -2.546         0              0              0              90
  20  Spatula         -1.852         0.784          -1.760         0              90             0              99
  21  Spatula         -1.797         0.784          -1.760         0              0              0              99
  22  Pot             -0.197         1.115          -0.506         0              0              0              64
  23  Kettle          -0.465         0.950          -2.372         0              90             0              62
  24  Glassbottle     0.582          0.911          -2.637         0              0              0              66
  25  Glassbottle     2.096          0.881          -2.536         0              180            0              91
  26  WineBottle      1.686          0.881          -2.563         0              180            0              91
  27  DishSponge      1.007          0.141          -2.431         0              0              0              84
  28  Bowl            -1.346         1.654          -2.604         0              0              0              80
  29  Book            0.155          1.1            0.617          0              315            0              64
  30  Glassbottle     0.450          0.141          -2.288         0              0              0              81
  31  Knife           -0.059         1.136          0.251          0              90             0              64
  32  Bread           1.098          0.983          -2.330         0              0              0              66
  33  Fork            -1.774         0.911          -2.146         0              0              0              89
  34  Potato          -1.880         0.078          2.172          0              270            0              95
  35  SoapBottle      -1.805         0.137          -1.506         0              90             0              65
  36  Kettle          -0.036         0.950          -2.372         0              270            0              59
  37  Pan             0.721          0.9            -2.415         0              0              0              66
  38  Plate           -0.059         1.108          -0.253         0              0              0              64
  39  Tomato          -2.037         0.837          1.168          0              90             0              97
  40  Vase            2.042          0.540          -2.495         0              0              0              94
  41  Egg             -2.080         0.575          0.920          0              90             0              97
  42  CreditCard      -2.100         0.908          0.044          0              0              0              89
  43  Statue          -1.937         0.910          -0.513         0              90             0              89
  44  WineBottle      -1.935         0.048          1.933          0              270            0              95
  45  Pot             -0.059         1.115          -0.001         0              0              0              64
  46  Spatula         -1.827         0.809          -0.104         0              180            0              63
  47  PaperTowelRoll  -0.995         1.015          -2.406         0              0              0              89
  48  Cup             0.217          1.109          -0.253         0              0              0              64
  49  Vase            1.478          0.550          -2.614         0              180            0              94
  50  Bowl            -1.852         0.766          -1.328         0              90             0              99
  51  SaltShaker      0.620          0.136          -2.387         0              0              0              81
  52  PepperShaker    -1.586         0.907          -1.869         0              0              0              89
  53  Lettuce         -1.806         0.973          -0.942         0              256.771        0              89
  54  ButterKnife     0.969          0.910          -2.330         0              0              0              66
  55  Apple           0.840          0.961          -2.714         0              0              0              66
  56  DishSponge      -1.908         0.769          -1.501         0              90             0              99
  57  Spoon           0.969          0.911          -2.330         0              0              0              66
  58  Mug             -2.081         1.497          1.176          0              90             0              97
  59  StoveBurner     -0.036         0.915          -2.372         0              0              0
  60  Drawer          0.949          0.832          -2.197         0              0              0
  61  Drawer          -1.560         0.839          0.204          0              90             0
  62  StoveBurner     -0.465         0.915          -2.371         0              180            0
  63  Drawer          -1.560         0.839          -0.197         0              90             0
  64  CounterTop      -0.079         1.147          -0.001         0              0              0
  65  Cabinet         -1.549         0.494          -1.964         0              90             0
  66  CounterTop      0.693          0.946          -2.483         0              0              0
  67  StoveBurner     -0.036         0.915          -2.576         0              0              0
  68  Drawer          0.949          0.393          -2.200         0              0              0
  69  Drawer          0.949          0.708          -2.200         0              0              0
  70  Cabinet         -1.549         0.494          0.379          0              90             0
  71  StoveKnob       -0.022         0.881          -2.187         45             0              0
  72  Drawer          0.949          0.560          -2.201         0              0              0
  73  StoveBurner     -0.465         0.915          -2.575         0              180            0
  74  Window          -2.230         1.429          -1.203         0              0              0
  75  StoveKnob       -0.483         0.881          -2.187         45             0              0
  76  Sink            -1.899         0.964          -1.5           0              90             0
  77  StoveKnob       -0.328         0.881          -2.187         45             0              0
  78  Cabinet         -0.727         2.015          -2.460         0              0              0
  79  Drawer          -1.560         0.655          -0.196         0              90             0
  80  Cabinet         -1.685         2.015          -2.461         0              0              0
  81  Cabinet         0.680          0.494          -2.200         0              0              0
  82  Cabinet         -1.179         0.494          -2.200         0              0              0
  83  Cabinet         -1.849         2.015          0.379          0              90             0
  84  Drawer          0.949          0.221          -2.200         0              0              0
  85  StoveKnob       -0.183         0.881          -2.187         45             0              0
  86  Cabinet         0.719          2.015          -2.460         0              0              0
  87  Drawer          -1.560         0.331          -0.196         0              90             0
  88  Cabinet         0.680          2.015          -2.460         0              0              0
  89  CounterTop      -1.868         0.946          -1.205         0              0              0
  90  Microwave       -0.236         1.689          -2.525         0              0              0
  91  Shelf           1.751          0.880          -2.560         0              0              0
  92  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  93  Toaster         -1.835         0.900          0.134          0              90             0
  94  Shelf           1.750          0.552          -2.559         0              0              0
  95  GarbageCan      -1.935         -0.002         2.029          0              270            0
  96  Shelf           1.750          0.172          -2.559         0              0              0
  97  Fridge          -2.096         0.0            1.088          0              0              0
  98  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  99  SinkBasin       -1.908         0.759          -1.488         0              90             0
 100  LightSwitch     2.329          1.309          -0.159         0              270            0
 101  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 102  Stool           0.702          0.000          -0.514         1.202          65.108         0
 103  Stool           0.743          0.000          0.563          1.227          106.706        0
 104  Faucet          -2.070         1.132          -1.514         0              0              0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Walk straight to the kitchen sink, then turn right and walk to the center of the kitchen island and turn to your right so that you are facing the pump bottle.  | STEP 2: Pick up the knife, on the kitchen island, behind the pump bottle.  | STEP 3: Turn around and walk to the refrigerator.  | STEP 4: Open the refrigerator door, cut the tomato on the top shelf into slices, and close the refrigerator door.  | STEP 5: Turn to your left and walk straight, then turn to your right when you reach the kitchen sink.  | STEP 6: Place the knife in the sink, in front of the green and yellow sponge.  | STEP 7: Turn to your right and walk back to the refrigerator.  | STEP 8: Pick up a slice of the tomato, on the top shelf and remove it from the refrigerator.  | STEP 9: Turn left and go back to the sink on your right.  | STEP 10: Place the tomato slice in the sink, turn the water on, rinse the tomato off, and remove the tomato from the sink.  | STEP 11: Turn to your right and walk back to the refrigerator.  | STEP 12: Place the tomato slice in the refrigerator, on the top shelf, to the left of the rest of the tomato. | END