Task: Slice a tomato, refrigerate it, carry it to the recycling bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.930          0.75           0              180            0
   1  Potato          0.773          0.924          -1.503         0              0              0              111
   2  Ladle           -0.991         0.743          -0.273         0              90             0              72
   3  Glassbottle     1.303          1.675          -1.480         0              0              0              56
   4  Kettle          -0.420         0.902          -0.920         0              135            0              60
   5  Pot             -0.935         0.900          0.846          0              0              0              65
   6  Pot             1.098          0.911          0.747          0              270            0              96
   7  Spoon           -0.136         0.901          -1.393         0              45             0              86
   8  Spoon           3.028          0.748          0.032          0              180            0              110
   9  Fork            2.966          0.901          -0.798         0              0              0              64
  10  Fork            3.029          0.713          -0.454         0              180            0              61
  11  CellPhone       2.947          0.709          0.761          0              180            0              87
  12  CellPhone       -0.786         0.515          1.168          0              0              0              53
  13  Mug             -1.119         0.992          1.258          0              180            0              113
  14  Lettuce         0.716          0.976          0.135          0              36.810         0              96
  15  PepperShaker    -0.991         0.127          0.076          0              0              0              85
  16  PepperShaker    -0.731         0.324          -0.707         0              45             0              88
  17  Bowl            0.778          0.905          0.332          0              36.810         0              96
  18  Bowl            0.354          1.256          -1.707         0              0              0              81
  19  Tomato          3.355          0.937          -0.499         0              0              0              64
  20  Tomato          0.156          0.937          -1.379         0              45             0              86
  21  Egg             -1.011         0.952          -0.825         0              45             0              65
  22  Cup             3.355          0.898          -0.798         0              0              0              64
  23  Plate           3.141          0.188          -0.404         0              0              0              76
  24  Knife           -0.007         0.925          -1.728         0              135            0              86
  25  Knife           3.122          0.926          -0.599         0              0              0              64
  26  Plate           3.028          0.190          0.700          0              0              0              74
  27  Glassbottle     3.069          0.748          -0.100         0              90             0              110
  28  SoapBottle      3.181          0.110          1.6            0              225            0              106
  29  Potato          0.622          0.949          0.727          0              0              0              96
  30  Fork            0.491          0.911          0.181          0              36.810         0              96
  31  Ladle           3.244          1.501          -1.235         0              0              0              79
  32  Pot             -1.008         0.900          0.399          0              270            0              65
  33  Kettle          3.070          0.748          0.231          0              90             0              110
  34  Spatula         -0.745         0.721          0.926          0              270            0              69
  35  Knife           0.059          0.925          -1.383         0              45             0              86
  36  Lettuce         0.840          0.765          -1.422         27.470         0              0              111
  37  Cup             0.836          0.905          0.747          0              0              0              96
  38  SaltShaker      -0.909         0.322          1.693          0              0              0              100
  39  Egg             -1.085         1.050          1.364          0              90             0              113
  40  PepperShaker    1.208          1.671          -1.759         0              0              0              56
  41  ButterKnife     -0.868         0.130          -0.273         0              0              0              85
  42  Apple           -0.935         0.974          -0.047         0              0              0              65
  43  Pan             0.341          0.873          -1.649         0              167.065        0              86
  44  Bread           1.534          0.972          0.486          0              289.287        0              96
  45  CellPhone       0.439          0.908          0.342          0              36.810         0              96
  46  DishSponge      -0.909         0.706          -0.273         0              0              0              72
  47  Tomato          -0.647         0.937          -0.780         0              45             0              65
  48  Spoon           0.100          0.901          -1.528         0              225            0              86
  49  Bowl            2.976          1.461          -1.599         0              0              0              63
  50  Mug             1.242          0.881          -1.448         0              0              0              111
  51  Drawer          0.376          0.572          -1.509         0              0              0
  52  Drawer          3.020          0.769          -0.783         0              180            0
  53  Drawer          -0.860         0.577          1.429          0              0              0
  54  StoveBurner     -0.600         0.897          -1.090         0              135            0
  55  Drawer          0.376          0.191          -1.509         0              0              0
  56  Cabinet         1.402          1.874          -1.259         0              0              0
  57  Cabinet         -0.202         1.963          -1.328         0              0              0
  58  Drawer          -0.860         0.765          1.429          0              0              0
  59  Drawer          -0.677         0.765          -0.700         0              0              0
  60  StoveBurner     -0.420         0.897          -0.920         0              135            0
  61  Drawer          3.020          0.769          -0.407         0              180            0
  62  Drawer          -0.860         0.577          0.663          0              0              0
  63  Cabinet         2.819          1.768          -1.850         0              0              0
  64  CounterTop      3.111          0.936          0.019          0              0              0
  65  CounterTop      -1.007         0.935          -0.039         0              0              0
  66  Drawer          -0.860         0.385          0.663          0              0              0
  67  StoveBurner     -0.419         0.897          -1.269         0              315            0
  68  Drawer          -0.047         0.573          -1.324         0              0              0
  69  Drawer          -0.860         0.765          0.663          0              0              0
  70  Drawer          -0.860         0.385          -0.100         0              0              0
  71  Drawer          0.376          0.380          -1.509         0              0              0
  72  Drawer          -0.860         0.765          -0.100         0              0              0
  73  Drawer          0.376          0.765          -1.509         0              0              0
  74  Cabinet         2.849          0.419          0.409          0              0              0
  75  Drawer          -0.047         0.765          -1.324         0              0              0
  76  Cabinet         2.849          0.419          -0.610         0              0              0
  77  Cabinet         2.849          0.419          -0.959         0              0              0
  78  Cabinet         3.069          1.666          -0.709         0              0              0
  79  Cabinet         2.819          1.768          -1.047         0              0              0
  80  Cabinet         0.620          1.874          -1.259         0              0              0
  81  Cabinet         0.140          1.666          -1.559         0              0              0
  82  Cabinet         -0.189         1.666          -1.340         0              0              0
  83  Cabinet         -0.709         1.963          -0.819         0              0              0
  84  Cabinet         -0.920         1.665          -0.620         0              0              0
  85  Drawer          -0.860         0.190          -0.100         0              0              0
  86  CounterTop      0.133          0.935          -1.457         0              0              0
  87  Drawer          3.020          0.769          0.695          0              180            0
  88  Drawer          -0.677         0.577          -0.700         0              0              0
  89  Drawer          -0.860         0.190          1.429          0              0              0
  90  Drawer          -0.047         0.192          -1.324         0              0              0
  91  Drawer          -0.677         0.193          -0.700         0              0              0
  92  Drawer          -0.860         0.577          -0.100         0              0              0
  93  Sink            3.078          0.887          0.086          0              0              0
  94  StoveBurner     -0.239         0.897          -1.089         0              315            0
  95  Drawer          -0.860         0.190          0.663          0              0              0
  96  CounterTop      1.210          0.937          0.463          0              0              0
  97  Drawer          -0.047         0.381          -1.324         0              0              0
  98  Drawer          -0.677         0.387          -0.700         0              0              0
  99  Mirror          -1.295         1.630          0.045          0              0              0
 100  Drawer          -0.860         0.385          1.429          0              0              0
 101  HousePlant      3.196          0.891          -0.368         0              0              0
 102  StoveKnob       -0.090         0.790          -1.009         270            45             0
 103  StoveKnob       -0.280         0.790          -0.819         270            45             0
 104  StoveKnob       -0.180         0.790          -0.920         270            45             0
 105  StoveKnob       -0.370         0.790          -0.720         270            45             0
 106  GarbageCan      3.137          0.025          1.545          0              225            0
 107  Window          3.703          1.675          0.046          90             90             0
 108  CoffeeMachine   3.214          0.890          0.697          0              270            0
 109  LightSwitch     2.592          1.309          -1.880         0              0              0
 110  SinkBasin       3.069          0.736          0.108          0              90             0
 111  Fridge          1.008          0.029          -1.467         0              0              0
 112  Toaster         -1.035         0.873          -0.396         0              90             0
 113  Microwave       -1.034         0.874          1.428          0              90             0
 114  Faucet          3.305          0.886          0.094          270            180            0
 115  NorthWall
 116  EastWall
 117  SouthWall
 118  WestWall

Plan:
STEP 1: Walk towards the kitchen door and hang a left at the counter top with the yellow-handled knife. | STEP 2: Walk to the countertop and pick up the yellow-handled knife. | STEP 3: Slice the tomato at the back of the counter and to the right of the plant. | STEP 4: Lay the knife on the handle of the fork that is in the shadow of the plant on the counter. | STEP 5: Pick up the right end slice of the tomato. | STEP 6: Turn and carry the tomato slice to the fridge. | STEP 7: Open the fridge door and place the tomato slice to the left of the head of lettuce on the shelf that is directly above the crisper drawers, close the fridge door and after cooling, open the fridge door, pick up the tomato slice and close the fridge door. | STEP 8: Turn and walk to the recycling bin in the corner of the room to the left of the counter with the sink. | STEP 9: Place the tomato slice in the recycling bin. | END