Task: pick up knife, cut tomato, place tomato in the fridge, remove from fridge, place on table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          5.25           0              180            0
   1  Potato          -0.284         0.794          6.941          0              0              0              90
   2  Potato          0.771          1.027          0.120          0              0              0              54
   3  ButterKnife     1.582          0.992          3.137          0              0              0              54
   4  ButterKnife     0.847          0.992          0.578          0              0              0              54
   5  Kettle          1.559          0.988          4.294          0              0              0              52
   6  Spatula         0.735          0.787          0.619          0              270            0              46
   7  Fork            -0.034         0.760          6.478          0              0              0              90
   8  Fork            0.192          0.772          0.451          0              0              0              51
   9  Egg             1.924          1.565          5.251          0              270            0              76
  10  Cup             1.135          0.988          0.895          0              0              0              54
  11  Plate           1.499          1.576          4.633          0              0              0              58
  12  Tomato          -0.291         0.809          6.612          0              225            0              90
  13  Tomato          -0.575         0.809          6.719          0              135            0              90
  14  Tomato          -0.467         0.809          6.541          0              270            0              90
  15  SaltShaker      0.305          0.755          6.479          0              270            0              90
  16  SaltShaker      0.305          0.755          6.354          0              270            0              90
  17  Apple           -0.159         0.834          6.787          0              0              0              90
  18  Apple           1.135          1.067          4.716          0              0              0              55
  19  Bowl            2.051          1.514          5.876          0              270            0              76
  20  Bread           1.493          1.062          0.440          0              0              0              54
  21  Egg             1.276          0.941          2.525          0              90             0              77
  22  Knife           0.058          0.789          6.261          0              225            0              90
  23  Fork            -0.685         0.771          0.395          0              90             0              50
  24  Apple           0.273          1.171          0.180          0              0              0              70
  25  Kettle          1.32           0.988          3.848          0              0              0              53
  26  Plate           -0.611         0.993          0.395          0              0              0              54
  27  SaltShaker      0.332          0.139          0.582          0              0              0              63
  28  Lettuce         1.449          0.932          2.050          0              0              0              77
  29  SoapBottle      0.213          0.760          6.763          0              225            0              90
  30  Spatula         0.192          0.775          6.565          0              135            0              90
  31  PaperTowelRoll  0.102          0.864          6.305          0              135            0              90
  32  Pot             1.562          0.988          3.848          0              0              0              48
  33  Potato          2.094          1.550          5.251          0              270            0              76
  34  ButterKnife     1.314          0.992          3.231          0              0              0              54
  35  PepperShaker    1.406          0.135          2.012          0              0              0              43
  36  Pan             -0.159         0.758          6.169          0              0              0              90
  37  Tomato          0.544          1.042          0.670          0              0              0              54
  38  DishSponge      0.056          0.771          0.507          0              0              0              51
  39  Cup             1.489          2.203          3.887          0              0              0              45
  40  Spoon           0.696          0.993          0.670          0              0              0              54
  41  Mug             1.332          0.886          2.679          0              90             0              77
  42  Cabinet         1.307          2.455          4.360          0              0              0
  43  Cabinet         1.054          0.422          1.710          0              0              0
  44  Drawer          1.280          0.808          4.718          0              0              0
  45  Cabinet         1.307          2.455          3.607          0              0              0
  46  Drawer          0.736          0.802          0.521          0              0              0
  47  Drawer          1.276          0.802          3.291          0              0              0
  48  StoveBurner     1.562          0.982          3.848          0              0              0
  49  StoveBurner     1.317          0.982          4.294          0              0              0
  50  Drawer          -0.482         0.802          0.521          0              0              0
  51  Drawer          0.124          0.802          0.521          0              0              0
  52  StoveBurner     1.559          0.982          4.294          0              0              0
  53  StoveBurner     1.320          0.982          3.848          0              0              0
  54  CounterTop      1.391          1.028          0.897          0              0              0
  55  CounterTop      1.391          1.028          4.716          0              0              0
  56  Cabinet         1.054          0.422          4.548          0              0              0
  57  Cabinet         1.317          2.134          0.517          0              0              0
  58  Cabinet         1.317          2.134          4.889          0              0              0
  59  Cabinet         1.317          2.134          3.095          0              0              0
  60  Cabinet         0.443          0.422          0.743          0              0              0
  61  Cabinet         1.270          2.134          0.434          0              0              0
  62  Cabinet         -0.775         0.422          0.743          0              0              0
  63  Cabinet         -0.168         0.422          0.743          0              0              0
  64  Cabinet         1.317          2.134          1.534          0              0              0
  65  Cabinet         1.054          0.422          2.990          0              0              0
  66  Cabinet         1.054          0.422          2.944          0              0              0
  67  Cabinet         -0.263         2.134          0.434          0              0              0
  68  Cabinet         0.252          2.134          0.434          0              0              0
  69  Sink            1.391          1.006          2.326          0              0              0
  70  Microwave       0.108          0.981          0.262          0              0              0
  71  HousePlant      -0.165         0.826          6.444          0              0              0
  72  CoffeeMachine   1.551          0.982          0.953          0              270            0
  73  Toaster         1.473          0.981          4.715          0              270            0
  74  Window          -2.065         1.916          3.626          90             90             0
  75  Window          1.763          2.007          2.299          90             270            0
  76  Fridge          2.035          0.0            5.625          0              0              0
  77  SinkBasin       1.387          0.880          2.338          0              90             0
  78  GarbageCan      2.001          -0.044         6.503          0              0              0
  79  StoveKnob       1.140          0.934          3.987          45             270            0
  80  StoveKnob       1.140          0.934          4.309          45             270            0
  81  StoveKnob       1.140          0.934          4.140          45             270            0
  82  StoveKnob       1.140          0.934          3.824          45             270            0
  83  Vase            -0.226         0.834          6.993          0              0              0
  84  Vase            2.098          0.043          7.070          0              257.232        0
  85  Vase            -0.594         0.835          6.130          0              225            0
  86  LightSwitch     -2.0           1.549          6.045          0              90             0
  87  Safe            2.046          1.072          7.054          0              257.232        0
  88  Faucet          1.534          1.025          2.371          0              294.391        0
  89  Blinds          1.738          2.563          2.312          0              90             0
  90  DiningTable     -0.156         0.000          6.474          0              0              0
  91  Chair           0.291          0.002          6.142          0              310.162        0
  92  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: turn around to table | STEP 2: pick up knife from table  | STEP 3: turn left, turn right, turn right to table | STEP 4: cut tomato with the knife | STEP 5: turn right, turn left to the fridge | STEP 6: open door, place knife on the shelf, close door | STEP 7: turn around, straight, turn right, turn right to the table  | STEP 8: pick up tomato from table | STEP 9: turn right, straight, turn left to the fridge | STEP 10: open fridge, put tomato on shelf, close door, open door, remove tomato, close door | STEP 11: turn left, turn left to the table | STEP 12: put tomato on the table | END