Task: put a bowl with a slice of a tomato into 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           -1.25          0.900          0.75           0              270            0
   1  Ladle           1.828          0.957          -1.797         0              0              0              71
   2  DishSponge      1.748          0.120          -1.463         0              270            0              65
   3  DishSponge      0.522          0.930          0.534          0              0              0              88
   4  ButterKnife     1.919          0.913          -1.329         0              0              0              71
   5  ButterKnife     -0.047         0.926          0.076          0              0              0              88
   6  Spatula         0.522          0.941          1.220          0              0              0              88
   7  Spoon           -0.113         0.914          -1.701         0              0              0              71
   8  Spoon           0.066          0.928          0.305          0              0              0              88
   9  Cup             0.180          0.930          0.076          0              0              0              88
  10  Plate           0.180          0.930          0.991          0              0              0              88
  11  Plate           -1.028         0.129          -1.501         0              90             0              66
  12  Knife           -0.047         0.950          0.305          0              90             0              88
  13  Knife           0.294          0.950          1.448          0              0              0              88
  14  Tomato          0.522          0.982          0.762          0              0              0              88
  15  Tomato          0.180          0.978          0.762          0              0              0              88
  16  Tomato          -0.283         0.816          -2.116         0              0              0              83
  17  SoapBottle      0.294          0.925          1.220          0              0              0              88
  18  SoapBottle      -0.963         0.912          -2.115         0              0              0              71
  19  Bowl            1.690          0.117          -1.200         0              270            0              65
  20  Bowl            -0.047         0.923          1.220          0              0              0              88
  21  SaltShaker      0.444          1.655          -2.162         0              0              0              60
  22  SaltShaker      0.522          0.926          0.305          0              0              0              88
  23  PepperShaker    1.466          0.909          -1.446         0              0              0              71
  24  PepperShaker    1.913          1.654          -1.117         0              270            0              62
  25  Mug             -1.252         1.010          -1.638         0              90             0              77
  26  Mug             1.985          1.652          -1.544         0              270            0              62
  27  Apple           -1.438         1.254          -0.495         0              90             0              79
  28  Apple           -0.283         0.835          -1.981         0              0              0              83
  29  Apple           1.738          0.984          -1.563         0              0              0              71
  30  Potato          -1.648         1.533          -0.392         0              90             0              79
  31  Bowl            -0.668         0.910          -2.200         0              0              0              71
  32  SoapBottle      1.915          0.085          0.121          0              0              0              72
  33  Fork            -0.064         0.765          -1.981         0              180            0              83
  34  Ladle           0.119          0.957          -1.725         0              0              0              71
  35  Bread           0.399          0.964          0.110          0              0              1.601          88
  36  Lettuce         -1.553         1.264          -0.703         0              90             0              79
  37  WineBottle      1.143          0.120          -1.753         0              0              0              63
  38  Spatula         0.408          0.945          0.762          0              0              0              88
  39  Plate           1.359          0.556          2.534          0              0              0              91
  40  SaltShaker      -1.036         0.909          -2.224         0              0              0              71
  41  Pot             1.567          0.948          -0.757         0              0              0              53
  42  Cup             1.514          0.120          -1.332         0              270            0              65
  43  PepperShaker    -0.890         0.909          -2.224         0              0              0              71
  44  Pan             1.824          0.945          -0.346         0              0              0              52
  45  ButterKnife     0.066          0.930          1.448          0              0              0              88
  46  Tomato          -0.137         0.816          -2.026         0              0              0              83
  47  DishSponge      -0.035         2.151          -2.120         0              0              0              56
  48  Egg             0.081          0.818          -2.116         0              0              0              83
  49  Spoon           0.522          0.931          0.991          0              0              0              88
  50  Knife           0.180          0.950          0.534          0              0              0              88
  51  Mug             1.566          0.548          2.379          0              0              0              91
  52  StoveBurner     1.845          0.940          -0.355         0              0              0
  53  StoveBurner     1.567          0.940          -0.757         0              0              0
  54  Cabinet         -1.149         2.019          -1.979         0              90             0
  55  Cabinet         -1.149         2.265          -0.834         0              90             0
  56  Cabinet         -0.459         2.265          -2.0           0              0              0
  57  Cabinet         -1.100         2.019          -2.0           0              0              0
  58  Cabinet         1.719          2.019          -2.0           0              0              0
  59  Cabinet         1.179          2.019          -2.0           0              0              0
  60  Cabinet         0.199          2.019          -2.0           0              0              0
  61  Cabinet         1.75           2.019          -1.399         0              270            0
  62  Cabinet         1.75           2.019          -1.029         0              270            0
  63  Cabinet         1.379          0.469          -1.689         0              0              0
  64  Cabinet         -0.819         0.469          -1.689         0              0              0
  65  Cabinet         1.389          0.469          -1.059         0              270            0
  66  Cabinet         -0.839         0.469          -1.665         0              90             0
  67  StoveBurner     1.567          0.940          -0.355         0              0              0
  68  StoveBurner     1.845          0.940          -0.757         0              0              0
  69  Sink            -0.109         0.893          -2.009         0              0              0
  70  Drawer          -0.819         0.75           -1.690         0              0              0
  71  CounterTop      0.232          0.949          -2.002         0              0              0
  72  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  73  Vase            0.251          0.546          0.475          0              270            0
  74  Toaster         0.780          0.900          -2.080         0              0              0
  75  LightSwitch     0.108          1.315          2.75           0              180            0
  76  Vase            0.400          0.925          0.218          0              180            0
  77  Microwave       -1.233         0.900          -1.680         0              90             0
  78  Vase            1.465          1.662          -2.200         0              0              0
  79  Fridge          -1.495         0.0            -0.703         0              0              0
  80  Window          2.114          1.495          1.072          90             270            0
  81  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  82  Vase            0.333          0.546          1.272          0              270            0
  83  SinkBasin       -0.148         0.753          -2.026         0              0              0
  84  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  85  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  86  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  87  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  88  DiningTable     0.170          0.005          0.678          0              270            0
  89  Shelf           0.170          0.155          0.678          0              270            0
  90  Shelf           1.605          0.172          2.480          0              0              0
  91  Shelf           1.605          0.552          2.480          0              0              0
  92  Shelf           1.604          0.880          2.479          0              0              0
  93  ShelvingUnit    1.605          0.006          2.480          0              0              0
  94  Faucet          -0.143         1.028          -2.223         0              270            0
  95  Stool           -0.553         0.000          0.871          1.233          280.376        0
  96  Shelf           0.170          0.528          0.678          0              270            0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: turn around and move forward toward the right corner of the white table | STEP 2: pick up the knife with the yellow handle that is in front of the spoon | STEP 3: turn right and move forward to be in front of the kitchen sink | STEP 4: slice the tomato with the knife that is behind the apple in the back of the sink on the right side | STEP 5: put the knife into the sink between the apple and the tomato that is to the left of the apple | STEP 6: pick up the slice of the tomato | STEP 7: move to the right to face the counter that is to the right of the sink | STEP 8: put the slice of tomato into the clear bowl that is to the right of the sink | STEP 9: pick up the bowl with the slice of tomato | STEP 10: turn to the right and move slightly right to face the refrigerator  | STEP 11: open the fridge door, put the bowl with the slice of tomato into the fridge on the top shelf and close the door | END