Task: drop a pot in the fridge with a tomato slice with a knife in it

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            0.901          0.75           0              270            0
   1  Potato          1.118          0.835          2.584          0              0              0              68
   2  WineBottle      -0.119         0.791          0.377          0              0              0              71
   3  DishSponge      1.997          0.937          1.964          0              0              0              44
   4  DishSponge      -0.115         0.080          1.993          0              0              0              43
   5  Spatula         0.060          0.952          2.548          0              0              0              44
   6  Knife           0.037          0.772          1.925          0              90             0              43
   7  Tomato          0.576          0.841          2.750          0              0              0              68
   8  Bowl            1.855          1.499          2.767          0              0              0              37
   9  PepperShaker    1.840          0.933          0.806          0              270            0              55
  10  Bread           2.112          1.371          -0.369         0              270            0              65
  11  Bread           2.127          1.567          -0.278         0              270            0              65
  12  Mug             2.064          0.989          2.462          0              225            0              70
  13  Egg             -0.053         0.980          2.897          0              0              0              44
  14  Lettuce         2.225          1.000          0.806          0              90             0              55
  15  Fork            0.002          0.746          1.993          0              0              0              43
  16  SoapBottle      -0.042         0.791          1.217          0              0              0              71
  17  Ladle           1.941          0.790          0.446          0              90             0              53
  18  Ladle           1.919          0.791          2.197          0              270            0              59
  19  Bread           -0.200         0.824          0.827          0              0              0              71
  20  SaltShaker      1.840          0.933          0.435          0              0              0              55
  21  Potato          1.556          0.977          2.898          0              0              0              44
  22  Pan             2.140          0.935          1.504          0              180            0              39
  23  WineBottle      0.033          0.791          0.377          0              0              0              71
  24  Spatula         -0.349         0.805          1.217          0              180            0              71
  25  Knife           -0.349         0.816          1.386          0              180            0              71
  26  Tomato          -0.042         0.837          0.545          0              0              0              71
  27  Apple           -0.263         0.087          -0.737         0              90             0              66
  28  ButterKnife     -0.349         0.782          0.713          0              0              0              71
  29  Pot             1.854          0.937          1.497          0              0              0              48
  30  PepperShaker    2.165          1.498          0.478          0              0              0              42
  31  Cup             2.203          1.501          0.388          0              0              0              52
  32  DishSponge      2.150          0.937          2.063          0              0              0              44
  33  Plate           -0.312         0.781          0.409          0              0              0              71
  34  Spoon           1.276          0.796          2.64           0              0              0              68
  35  Mug             -0.167         0.932          2.827          0              0              0              44
  36  Bowl            2.207          0.599          -0.007         0              270            0              65
  37  Cabinet         2.041          2.113          2.618          0              0              0
  38  Cabinet         0.126          0.388          1.774          0              0              0
  39  StoveBurner     2.140          0.929          1.504          0              180            0
  40  Cabinet         1.760          0.388          2.346          0              0              0
  41  Cabinet         1.760          0.388          0.869          0              0              0
  42  Cabinet         2.041          1.810          0.283          0              0              0
  43  Drawer          -0.024         0.774          2.061          0              0              0
  44  CounterTop      1.065          0.973          2.666          0              0              0
  45  Cabinet         1.969          2.113          2.618          0              0              0
  46  StoveBurner     2.140          0.929          1.106          0              0              0
  47  Cabinet         2.041          2.113          1.809          0              0              0
  48  StoveBurner     1.866          0.929          1.504          0              180            0
  49  Cabinet         2.041          2.113          1.766          0              0              0
  50  Cabinet         1.514          0.388          2.360          0              0              0
  51  Cabinet         0.351          0.388          2.360          0              0              0
  52  Cabinet         2.041          1.810          0.872          0              0              0
  53  Drawer          2.167          0.774          0.582          0              0              0
  54  Cabinet         2.041          2.113          0.892          0              0              0
  55  CounterTop      2.060          0.973          0.583          0              0              0
  56  Sink            0.935          0.936          2.646          0              0              0
  57  Curtains        0.964          2.061          2.989          0              0              0
  58  StoveBurner     1.863          0.929          1.106          0              0              0
  59  Drawer          1.911          0.774          2.060          0              0              0
  60  StoveKnob       2.326          1.092          1.610          288.013        90             0
  61  StoveKnob       2.326          1.092          1.460          288.013        90             0
  62  StoveKnob       2.326          1.092          1.210          288.013        90             0
  63  StoveKnob       2.326          1.092          1.050          288.013        90             0
  64  Toaster         2.126          0.926          0.572          0              270            0
  65  Fridge          2.104          0.0            -0.279         0              270            0
  66  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  67  LightSwitch     0.354          1.518          -1.031         0              0              0
  68  SinkBasin       0.903          0.784          2.640          0              0              0
  69  Microwave       -0.310         0.926          2.077          0              90             0
  70  CoffeeMachine   2.084          0.927          2.667          0              225            0
  71  DiningTable     -0.153         -0.000         1.073          0              270            0
  72  Faucet          1.175          0.926          2.950          270            90             0
  73  Faucet          0.686          0.926          2.950          270            90             0
  74  Chair           -0.077         0.002          0.196          0              15.000         0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: turn right towards the table | STEP 2: pick up the knife on the table | STEP 3: turn right towards the sink | STEP 4: slice the tomato in the sink | STEP 5: turn right towards the pot on the gas | STEP 6: drop the knife in the pot in the gas | STEP 7: turn around towards the sink | STEP 8: pick up the tomato slice  | STEP 9: turn around towards the gas | STEP 10: drop the tomato slice in the pot | STEP 11: pick up the pot from the gas | STEP 12: turn right and head for the fridge | STEP 13: drop the pot in the fridge | END