Task: Put a chilled slice of tomato in a 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          -1.5           0              90             0
   1  Potato          -1.008         0.938          -0.047         0              0              0              63
   2  Potato          0.967          0.946          0.747          0              0              0              94
   3  Ladle           0.760          1.711          -1.410         0              270            0              78
   4  Kettle          -0.419         0.902          -1.269         0              315            0              65
   5  Kettle          -0.862         0.901          -0.047         0              0              0              63
   6  Spatula         -1.153         0.915          0.846          0              90             0              63
   7  Spatula         0.022          0.915          -1.588         0              90             0              84
   8  Spoon           3.044          0.901          -0.599         0              0              0              62
   9  Spoon           3.028          0.748          0.032          0              180            0              108
  10  Fork            3.277          0.901          -0.499         0              270            0              62
  11  CellPhone       0.731          0.905          0.733          0              36.810         0              94
  12  Mug             3.07           0.748          0.098          0              90             0              108
  13  Apple           -1.052         1.071          1.258          0              90             0              111
  14  Apple           -1.052         1.071          1.470          0              90             0              111
  15  Lettuce         0.445          0.976          0.426          0              0              0              94
  16  SaltShaker      3.255          0.172          -0.307         0              0              0              74
  17  PepperShaker    1.229          0.904          0.747          0              0              0              94
  18  Bowl            3.141          0.172          -0.786         0              0              0              75
  19  SoapBottle      0.952          1.683          -1.410         0              0              0              78
  20  Egg             1.086          0.763          -1.433         0              0              0              109
  21  Egg             3.111          0.799          -0.100         0              90             0              108
  22  Knife           -0.880         0.925          -0.850         0              135            0              63
  23  Knife           3.277          0.926          -0.300         0              0              0              62
  24  Plate           1.208          1.687          -1.550         0              0              0              54
  25  Glassbottle     1.360          0.908          0.747          0              0              0              94
  26  SoapBottle      2.976          1.473          -1.599         0              0              0              61
  27  Potato          0.722          0.946          0.374          0              36.810         0              94
  28  Fork            -0.991         0.326          1.518          0              90             0              98
  29  Ladle           3.028          0.214          0.841          0              270            0              72
  30  Pot             -0.420         0.902          -0.920         0              135            0              58
  31  Kettle          3.197          0.178          0.629          0              0              0              72
  32  Spatula         -0.950         0.341          0.839          0              180            0              64
  33  Knife           1.009          0.933          0.525          0              36.810         0              94
  34  Lettuce         -0.717         0.965          -0.494         0              0              0              63
  35  Cup             -0.232         1.261          -1.552         0              45             0              80
  36  SaltShaker      3.179          1.260          -0.822         0              0              0              76
  37  Egg             1.086          0.938          -1.503         0              0              0              109
  38  PepperShaker    3.102          1.460          -1.382         0              0              0              77
  39  ButterKnife     -0.868         0.518          1.430          0              0              0              51
  40  Apple           3.208          0.174          1.680          0              225            0              104
  41  Pan             0.341          0.873          -1.649         0              167.065        0              84
  42  Bread           1.534          0.972          0.486          0              289.287        0              94
  43  CellPhone       -0.909         0.128          0.163          0              0              0              83
  44  DishSponge      -0.827         0.517          0.751          0              0              0              60
  45  Tomato          0.336          0.937          -1.660         0              0              0              84
  46  Spoon           2.966          0.901          0.947          0              0              0              62
  47  Bowl            3.249          1.461          -1.697         0              0              0              61
  48  Mug             0.725          0.903          0.494          0              36.810         0              94
  49  Drawer          0.376          0.572          -1.509         0              0              0
  50  Drawer          3.020          0.769          -0.783         0              180            0
  51  Drawer          -0.860         0.577          1.429          0              0              0
  52  StoveBurner     -0.600         0.897          -1.090         0              135            0
  53  Drawer          0.376          0.191          -1.509         0              0              0
  54  Cabinet         1.402          1.874          -1.259         0              0              0
  55  Cabinet         -0.202         1.963          -1.328         0              0              0
  56  Drawer          -0.860         0.765          1.429          0              0              0
  57  Drawer          -0.677         0.765          -0.700         0              0              0
  58  StoveBurner     -0.420         0.897          -0.920         0              135            0
  59  Drawer          3.020          0.769          -0.407         0              180            0
  60  Drawer          -0.860         0.577          0.663          0              0              0
  61  Cabinet         2.819          1.768          -1.850         0              0              0
  62  CounterTop      3.111          0.936          0.019          0              0              0
  63  CounterTop      -1.007         0.935          -0.039         0              0              0
  64  Drawer          -0.860         0.385          0.663          0              0              0
  65  StoveBurner     -0.419         0.897          -1.269         0              315            0
  66  Drawer          -0.047         0.573          -1.324         0              0              0
  67  Drawer          -0.860         0.765          0.663          0              0              0
  68  Drawer          -0.860         0.385          -0.100         0              0              0
  69  Drawer          0.376          0.380          -1.509         0              0              0
  70  Drawer          -0.860         0.765          -0.100         0              0              0
  71  Drawer          0.376          0.765          -1.509         0              0              0
  72  Cabinet         2.849          0.419          0.409          0              0              0
  73  Drawer          -0.047         0.765          -1.324         0              0              0
  74  Cabinet         2.849          0.419          -0.610         0              0              0
  75  Cabinet         2.849          0.419          -0.959         0              0              0
  76  Cabinet         3.069          1.666          -0.709         0              0              0
  77  Cabinet         2.819          1.768          -1.047         0              0              0
  78  Cabinet         0.620          1.874          -1.259         0              0              0
  79  Cabinet         0.140          1.666          -1.559         0              0              0
  80  Cabinet         -0.189         1.666          -1.340         0              0              0
  81  Cabinet         -0.709         1.963          -0.819         0              0              0
  82  Cabinet         -0.920         1.665          -0.620         0              0              0
  83  Drawer          -0.860         0.190          -0.100         0              0              0
  84  CounterTop      0.133          0.935          -1.457         0              0              0
  85  Drawer          3.020          0.769          0.695          0              180            0
  86  Drawer          -0.677         0.577          -0.700         0              0              0
  87  Drawer          -0.860         0.190          1.429          0              0              0
  88  Drawer          -0.047         0.192          -1.324         0              0              0
  89  Drawer          -0.677         0.193          -0.700         0              0              0
  90  Drawer          -0.860         0.577          -0.100         0              0              0
  91  Sink            3.078          0.887          0.086          0              0              0
  92  StoveBurner     -0.239         0.897          -1.089         0              315            0
  93  Drawer          -0.860         0.190          0.663          0              0              0
  94  CounterTop      1.210          0.937          0.463          0              0              0
  95  Drawer          -0.047         0.381          -1.324         0              0              0
  96  Drawer          -0.677         0.387          -0.700         0              0              0
  97  Mirror          -1.295         1.630          0.045          0              0              0
  98  Drawer          -0.860         0.385          1.429          0              0              0
  99  HousePlant      3.196          0.891          -0.368         0              0              0
 100  StoveKnob       -0.090         0.790          -1.009         270            45             0
 101  StoveKnob       -0.280         0.790          -0.819         270            45             0
 102  StoveKnob       -0.180         0.790          -0.920         270            45             0
 103  StoveKnob       -0.370         0.790          -0.720         270            45             0
 104  GarbageCan      3.137          0.025          1.545          0              225            0
 105  Window          3.703          1.675          0.046          90             90             0
 106  CoffeeMachine   3.214          0.890          0.697          0              270            0
 107  LightSwitch     2.592          1.309          -1.880         0              0              0
 108  SinkBasin       3.069          0.736          0.108          0              90             0
 109  Fridge          1.008          0.029          -1.467         0              0              0
 110  Toaster         -1.035         0.873          -0.396         0              90             0
 111  Microwave       -1.034         0.874          1.428          0              90             0
 112  Faucet          3.305          0.886          0.094          270            180            0
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: Turn left, turn right at the island, go forward to the sink. | STEP 2: Take the large knife from the counter to the right of the sink. | STEP 3: Turn around, go forward, turn left to face the counter to the right of the fridge. Go to the counter. | STEP 4: Cut the tomato in the pan on the counter into slices. | STEP 5: Go in front of the fridge on the left. | STEP 6: Put the knife on the bottom shelf of the fridge. | STEP 7: Go back to the counter with the tomato in the pan to the right. | STEP 8: Take a slice of tomato from the pan. | STEP 9: Go in front of the fridge on the left. | STEP 10: Chill the tomato on the bottom shelf of the fridge. Take the tomato from the fridge. | STEP 11: Turn left, go forward, turn left, go forward to the wall, turn right to face the blue bin, go to the bin. | STEP 12: Put the tomato in the bin. | END