Task: Slice a tomato on a 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           0.5            0.901          0.0            0              0              0
   1  WineBottle      -0.263         0.038          -0.832         0              90             0              76
   2  WineBottle      2.241          1.504          0.478          0              0              0              52
   3  ButterKnife     1.997          0.937          2.162          0              0              0              54
   4  Spatula         0.002          0.761          2.197          0              270            0              53
   5  Spatula         1.837          0.761          0.721          0              270            0              63
   6  Spoon           1.815          0.747          1.991          0              90             0              69
   7  Fork            -0.196         0.791          1.386          0              0              0              81
   8  Fork            -0.138         0.747          1.993          0              90             0              53
   9  Egg             -0.395         1.078          1.961          0              90             0              79
  10  Egg             1.917          0.980          0.361          0              0              0              65
  11  Cup             2.137          0.859          -0.278         0              270            0              75
  12  Cup             2.225          0.936          0.806          0              0              0              65
  13  Plate           1.925          0.086          2.128          0              0              0              50
  14  Tomato          1.223          0.841          2.529          0              0              0              78
  15  Bowl            2.127          1.515          -0.278         0              270            0              75
  16  Bowl            0.566          0.078          2.484          0              0              0              61
  17  SaltShaker      2.304          0.932          2.063          0              0              0              54
  18  SaltShaker      -0.349         0.785          1.217          0              0              0              81
  19  PepperShaker    -0.349         0.785          0.713          0              0              0              81
  20  PepperShaker    1.855          1.498          2.767          0              0              0              55
  21  Bread           2.112          1.369          -0.188         0              270            0              75
  22  Mug             -0.294         1.030          1.961          0              90             0              79
  23  Egg             1.840          0.980          0.361          0              0              0              65
  24  Lettuce         -0.042         0.852          1.217          0              0              0              81
  25  Fork            -0.119         0.791          0.377          0              0              0              81
  26  SoapBottle      2.040          0.082          1.844          0              270            0              50
  27  Ladle           -0.349         0.835          0.545          0              270            0              81
  28  Ladle           -0.041         0.125          2.061          0              0              0              48
  29  Bread           -0.199         0.823          0.813          0              0              0              81
  30  SaltShaker      0.033          0.785          0.713          0              0              0              81
  31  Potato          -0.425         0.831          0.545          0              270            0              81
  32  Pan             2.140          0.935          1.504          0              180            0              49
  33  WineBottle      1.844          0.938          2.063          0              0              0              54
  34  Spatula         -0.425         0.805          1.217          0              270            0              81
  35  Knife           0.033          0.816          0.881          0              90             0              81
  36  Tomato          -0.425         0.837          0.881          0              0              0              81
  37  Apple           2.116          0.910          -0.097         0              270            0              75
  38  ButterKnife     1.917          0.938          0.583          0              180            0              65
  39  Pot             1.854          0.937          1.497          0              0              0              58
  40  PepperShaker    2.203          1.498          0.725          0              0              0              62
  41  Cup             2.207          0.600          -0.460         0              270            0              75
  42  DishSponge      1.846          0.081          0.442          0              0              0              51
  43  Plate           2.206          1.505          2.010          0              0              0              57
  44  Spoon           0.629          0.796          2.584          0              0              0              78
  45  Mug             -0.042         0.785          0.545          0              0              0              81
  46  Bowl            2.112          1.318          -0.460         0              270            0              75
  47  Cabinet         2.041          2.113          2.618          0              0              0
  48  Cabinet         0.126          0.388          1.774          0              0              0
  49  StoveBurner     2.140          0.929          1.504          0              180            0
  50  Cabinet         1.760          0.388          2.346          0              0              0
  51  Cabinet         1.760          0.388          0.869          0              0              0
  52  Cabinet         2.041          1.810          0.283          0              0              0
  53  Drawer          -0.024         0.774          2.061          0              0              0
  54  CounterTop      1.065          0.973          2.666          0              0              0
  55  Cabinet         1.969          2.113          2.618          0              0              0
  56  StoveBurner     2.140          0.929          1.106          0              0              0
  57  Cabinet         2.041          2.113          1.809          0              0              0
  58  StoveBurner     1.866          0.929          1.504          0              180            0
  59  Cabinet         2.041          2.113          1.766          0              0              0
  60  Cabinet         1.514          0.388          2.360          0              0              0
  61  Cabinet         0.351          0.388          2.360          0              0              0
  62  Cabinet         2.041          1.810          0.872          0              0              0
  63  Drawer          2.167          0.774          0.582          0              0              0
  64  Cabinet         2.041          2.113          0.892          0              0              0
  65  CounterTop      2.060          0.973          0.583          0              0              0
  66  Sink            0.935          0.936          2.646          0              0              0
  67  Curtains        0.964          2.061          2.989          0              0              0
  68  StoveBurner     1.863          0.929          1.106          0              0              0
  69  Drawer          1.911          0.774          2.060          0              0              0
  70  StoveKnob       2.326          1.092          1.610          288.013        90             0
  71  StoveKnob       2.326          1.092          1.460          288.013        90             0
  72  StoveKnob       2.326          1.092          1.210          288.013        90             0
  73  StoveKnob       2.326          1.092          1.050          288.013        90             0
  74  Toaster         2.126          0.926          0.572          0              270            0
  75  Fridge          2.104          0.0            -0.279         0              270            0
  76  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  77  LightSwitch     0.354          1.518          -1.031         0              0              0
  78  SinkBasin       0.903          0.784          2.640          0              0              0
  79  Microwave       -0.310         0.926          2.077          0              90             0
  80  CoffeeMachine   2.084          0.927          2.667          0              225            0
  81  DiningTable     -0.153         -0.000         1.073          0              270            0
  82  Faucet          1.175          0.926          2.950          270            90             0
  83  Faucet          0.686          0.926          2.950          270            90             0
  84  Chair           -0.077         0.002          0.196          0              15.000         0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Move forward, then turn right to go to the stove. | STEP 2: Pick up the pan on the stove, nearest to you. | STEP 3: Turn right, go forward, then turn left to face the fridge. | STEP 4: Put the pan on the middle shelf in the fridge. | STEP 5: Turn left, then move forward to the sink. | STEP 6: Pick up the tomato in the right sink basin. | STEP 7: Turn around, move forward, then turn left to go to the fridge. | STEP 8: Put the tomato in the fridge, in the pan. | STEP 9: Go to the counter, adjacent to the fridge. | STEP 10: Pick up the butter knife on the counter, in front of the toaster. | STEP 11: Return to the fridge, to your right. | STEP 12: Slice the tomato in the fridge. | END