Task: Put a frozen tomato slice on a counter.

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          1.75           0              0              0
   1  Pan             1.543          0.909          -0.320         0              90             0              44
   2  ButterKnife     1.796          0.911          -1.717         0              90             0              45
   3  ButterKnife     0.220          0.910          1.004          0              90             0              41
   4  DishSponge      1.769          1.653          -0.305         0              0              0              52
   5  Fork            1.839          0.911          0.415          0              90             0              41
   6  Fork            0.220          0.911          0.827          0              90             0              41
   7  Spoon           1.796          0.912          -1.545         0              90             0              45
   8  Spoon           1.607          0.911          0.363          0              90             0              41
   9  Spatula         1.501          0.925          1.092          0              270            0              41
  10  Egg             1.917          0.945          0.622          0              90             0              41
  11  Plate           1.805          1.634          -1.046         0              0              0              53
  12  SoapBottle      1.840          1.631          -0.682         0              0              0              53
  13  SoapBottle      1.805          1.643          -1.683         0              0              0              55
  14  Tomato          1.726          0.975          -1.288         0              90             0              45
  15  Bowl            -0.741         0.459          -1.476         0              0              0              68
  16  SaltShaker      1.355          0.906          -1.247         0              90             0              45
  17  PepperShaker    1.875          1.640          -1.847         0              0              0              55
  18  PepperShaker    1.740          2.131          1.275          0              180            0              48
  19  Plate           1.757          0.912          1.180          0              90             0              41
  20  SoapBottle      1.800          0.068          1.588          0              270            0              59
  21  Cup             0.258          0.909          -1.263         0              90             0              45
  22  Egg             -0.644         1.126          -1.559         0              0              0              68
  23  Fork            1.757          0.901          0.915          1.122          90             0              41
  24  Ladle           1.806          1.699          -0.050         0              0              0              51
  25  Apple           -0.692         1.446          -1.594         0              0              0              68
  26  SaltShaker      1.844          2.131          1.198          0              0              0              48
  27  Pan             1.807          0.909          -0.320         0              180            0              43
  28  Tomato          1.839          0.974          0.363          0              90             0              41
  29  Spatula         1.516          0.926          -1.631         0              270            0              45
  30  Potato          -0.692         0.786          -1.559         0              0              0              68
  31  Knife           1.032          0.792          -1.599         0              0              0              60
  32  ButterKnife     0.296          0.9            -1.296         0              14.568         0              45
  33  Bread           1.614          0.977          0.760          0              50.526         0              41
  34  Lettuce         0.856          0.989          1.120          0              270            1.590          41
  35  PepperShaker    1.839          0.905          0.518          0              90             0              41
  36  Pot             1.534          0.908          0.058          0              195.000        0              47
  37  DishSponge      1.739          0.069          1.827          0              270            0              59
  38  Spoon           0.732          0.911          1.004          0              90             0              41
  39  Bowl            0.193          0.900          1.170          0              0              0              41
  40  Mug             1.771          1.010          -0.888         0              270            0              65
  41  CounterTop      0.989          0.946          1.016          0              90             0
  42  StoveBurner     1.807          0.907          0.075          0              180            0
  43  StoveBurner     1.807          0.907          -0.320         0              180            0
  44  StoveBurner     1.543          0.907          -0.320         0              90             0
  45  CounterTop      0.989          0.946          -1.516         0              90             0
  46  Sink            1.100          0.906          -1.599         0              0              0
  47  StoveBurner     1.548          0.907          0.075          0              180            0
  48  Cabinet         1.658          2.299          1.313          0              0              0
  49  Cabinet         1.658          2.299          0.686          0              0              0
  50  Cabinet         1.658          2.049          0.673          0              0              0
  51  Cabinet         1.658          2.059          0.193          0              0              0
  52  Cabinet         1.658          2.059          -0.593         0              0              0
  53  Cabinet         1.658          2.049          -0.606         0              0              0
  54  Cabinet         1.658          2.049          -1.206         0              0              0
  55  Cabinet         1.658          2.049          -1.893         0              0              0
  56  Toaster         0.131          0.900          -1.589         0              0              0
  57  Window          -0.372         1.588          3.349          90             0              0
  58  Window          0.782          1.741          -1.893         90             0              0
  59  GarbageCan      1.770          -0.029         1.685          0              270            0
  60  SinkBasin       1.091          0.740          -1.599         0              0              0
  61  StoveKnob       1.364          0.821          0.086          48.421         270            0
  62  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  63  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  64  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  65  Microwave       1.752          0.900          -0.843         0              270            0
  66  LightSwitch     2.0            1.261          3.094          0              270            0
  67  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  68  Fridge          -0.533         0.0            -1.554         0              0              0
  69  Chair           1.068          0.000          1.752          0              191.622        0
  70  Faucet          1.110          1.138          -1.764         0              270            0
  71  Chair           0.357          0.000          1.710          0              178.899        0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: Turn right, go straight, at the chair turn right, go past the counter, bear straight and left to the sink. | STEP 2: Take the knife in the sink. | STEP 3: Turn left to face the microwave. | STEP 4: Cut the tomato on the counter to the right of the microwave. | STEP 5: Put the knife in the microwave. | STEP 6: Take a slice of tomato from the counter. | STEP 7: Turn around, go to the fridge. | STEP 8: Put the tomato in the freezer on the left side of the fridge. Close and open the fridge doors. Take the tomato from the fridge. | STEP 9: Go to the counter to the left of the fridge where the coffee machine is. | STEP 10: Put the tomato in front of the coffee machine on the counter. | END