Task: Slice a tomato and cool in refrigerator.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.25          0.900          -3.75          0              90             0
   1  Glassbottle     -0.344         0.082          -1.712         0              0              0              46
   2  Pen             -2.780         0.926          -1.193         0              0              0              76
   3  Pen             -2.666         0.926          -2.345         0              0              0              76
   4  ButterKnife     -2.438         0.923          -0.963         0              90             0              76
   5  ButterKnife     -0.600         0.905          -3.626         0              0              0              51
   6  WineBottle      -2.210         0.924          -2.115         0              0              0              76
   7  WineBottle      -2.006         0.027          -3.799         0              0              0              67
   8  Spatula         -2.438         0.938          -1.654         0              90             0              76
   9  Spatula         -2.438         0.938          -0.963         0              0              0              76
  10  Spoon           -2.666         0.924          -1.423         0              0              0              76
  11  Spoon           -2.666         0.924          -1.654         0              0              0              76
  12  Knife           -2.438         0.946          -1.423         0              0              0              76
  13  Knife           -2.438         0.946          -1.193         0              0              0              76
  14  Plate           -0.743         0.918          -3.555         0              0              0              51
  15  Plate           -2.666         0.925          -2.115         0              0              0              76
  16  Tomato          -0.388         1.754          -0.769         0              270            0              68
  17  Bowl            -0.268         1.689          -0.560         0              270            0              68
  18  PepperShaker    -0.749         0.743          -3.586         0              0              0              50
  19  Apple           -2.780         0.996          -1.654         0              0              0              76
  20  Apple           -0.385         0.989          -3.839         0              0              0              51
  21  Apple           -0.343         1.464          -0.665         0              270            0              68
  22  Lettuce         -2.780         1.016          -1.884         0              0              0              76
  23  Glassbottle     -0.350         0.797          -2.008         0              270            0              69
  24  Egg             -0.343         1.423          -1.084         0              270            0              68
  25  Pen             -2.096         0.926          -1.884         0              0              0              76
  26  Fork            -0.350         0.797          -1.934         0              90             0              69
  27  SoapBottle      -2.438         0.922          -2.115         0              0              0              76
  28  Pencil          -2.438         0.923          -1.193         0              0              0              76
  29  WineBottle      -1.881         0.027          -3.763         0              0              0              67
  30  Spatula         -2.096         0.938          -2.345         0              0              0              76
  31  Bread           -0.415         0.953          -3.626         0              0              0              51
  32  Tomato          -2.552         0.987          -1.423         0              0              0              76
  33  Pan             -1.515         0.935          -3.752         0              90             0              47
  34  Cup             -0.343         1.097          -0.665         0              270            0              68
  35  Pot             -1.129         0.935          -3.498         0              0              0              49
  36  SaltShaker      -2.210         0.919          -1.193         0              0              0              76
  37  Potato          -0.815         0.947          -3.768         0              0              0              51
  38  PepperShaker    -2.324         0.919          -1.423         0              0              0              76
  39  ButterKnife     -2.210         0.923          -1.423         0              0              0              76
  40  DishSponge      -2.096         0.923          -1.193         0              0              0              76
  41  Spoon           -0.671         0.916          -3.839         0              0              0              51
  42  Plate           -0.747         0.084          -3.584         0              0              0              57
  43  Knife           -2.324         0.946          -1.884         0              0              0              76
  44  Mug             -0.293         0.910          -3.368         0              0              0              51
  45  Bowl            -1.549         1.968          -3.851         0              0              0              60
  46  Cabinet         -0.582         0.388          -1.804         0              0              0
  47  StoveBurner     -1.515         0.928          -3.752         0              90             0
  48  StoveBurner     -1.515         0.928          -3.497         0              0              0
  49  StoveBurner     -1.129         0.928          -3.498         0              0              0
  50  Drawer          -0.749         0.779          -3.551         0              0              0
  51  CounterTop      -0.303         0.951          -2.793         0              0              0
  52  Cabinet         -0.883         2.140          -3.687         0              0              0
  53  Cabinet         -0.312         2.140          -1.543         0              0              0
  54  Sink            -0.349         0.907          -2.014         0              0              0
  55  Cabinet         -0.877         0.388          -3.422         0              0              0
  56  Cabinet         -0.582         0.388          -2.197         0              0              0
  57  Cabinet         -0.584         0.388          -3.396         0              0              0
  58  Cabinet         -0.312         2.140          -2.481         0              0              0
  59  Cabinet         -0.330         1.921          -3.390         0              0              0
  60  Cabinet         -1.764         2.140          -3.687         0              0              0
  61  StoveBurner     -1.129         0.928          -3.752         0              90             0
  62  Drawer          -0.454         0.779          -3.268         0              0              0
  63  Cabinet         -0.302         1.916          -2.501         0              0              0
  64  Microwave       -1.317         1.517          -3.801         0              1.440          0
  65  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  66  LightSwitch     -4.323         1.319          0.0            0              180            0
  67  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  68  Fridge          -0.330         0.0            -0.769         0              270            0
  69  SinkBasin       -0.350         0.786          -2.018         0              270            0
  70  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  71  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  72  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  73  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  74  Toaster         -0.181         0.903          -2.764         0              270            0
  75  Window          -2.503         1.782          -4.185         90             180            0
  76  DiningTable     -2.432         0.000          -1.694         0              270            0
  77  Shelf           -2.432         0.150          -1.694         0              270            0
  78  Blinds          -2.536         2.699          -3.959         0              0              0
  79  Faucet          -0.079         0.904          -2.034         270            180            0
  80  Chair           -3.264         0.002          -2.094         0              53.280         0
  81  Chair           -3.240         0.002          -1.253         0              117.257        0
  82  Shelf           -2.432         0.523          -1.694         0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn left and take a step.  Turn right and walk to the trash can.  At the trash can, turn left and walk to the middle of the table. | STEP 2: Pick up the middle knife to the closest to the salt. | STEP 3: Slice the tomato in the middle of the table. | STEP 4: Carrying the knife, turn left and walk to the the trash can, at the trash can turn right and walk to the edge of the table.   Face the table. | STEP 5: Put the knife down on the plate next to the lettuce. | STEP 6: Turn right and walk to the trash can.  At the trash can, turn left and walk to the middle of the table.  Face the table. | STEP 7: Pick up a slice of tomato. | STEP 8: Carrying the tomato slice, turn left and walk to the the trash can, at the trash can turn right and walk to the edge of the table.   Face the table. | STEP 9: Put the tomato down on the plate to the left of the knife. | STEP 10: Pick up the plate with the tomato slice and knife. | STEP 11: Carry the plate, turn right and walk to the trash can.  At the trash can, turn left and walk to the wall on the other side of the room.  At the wall, turn right and face the refrigerator.  Walk toward the refrigerator. | STEP 12: Open both of the refrigerator doors.  Put the plate down to the right of the glass in the refrigerator.  Close both doors.. | END