Task: Put a slice of vegetable on a counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.908          1.5            0              0              0
   1  Potato          -0.082         0.803          -0.533         0              0              0              97
   2  DishSponge      -0.503         0.911          -0.430         0              0              0              76
   3  ButterKnife     1.367          0.886          2.692          0              0              0              102
   4  ButterKnife     1.128          0.911          -0.144         0              0              0              70
   5  Glassbottle     1.034          0.887          2.800          0              0              0              102
   6  WineBottle      -0.634         1.657          -0.755         0              0              0              55
   7  WineBottle      1.325          1.656          -0.333         0              0              0              52
   8  Spoon           1.042          0.777          -0.014         0              90             0              71
   9  Spoon           -1.070         0.777          0.245          0              270            0              72
  10  Fork            -0.020         0.759          -0.612         0              0              0              97
  11  Fork            -1.290         0.749          2.644          0              0              0              51
  12  Spatula         1.450          0.901          2.153          0              90             0              102
  13  Pot             0.502          0.939          -0.740         0              90             0              77
  14  Cup             -1.325         1.654          -0.519         0              0              0              57
  15  Cup             -1.012         0.748          2.644          0              0              0              51
  16  Tomato          1.128          0.961          -0.428         0              0              0              70
  17  SoapBottle      -1.135         0.913          -0.902         0              0              0              76
  18  SoapBottle      1.355          2.155          0.957          0              0              0              60
  19  Bowl            1.284          0.884          2.261          0              0              0              102
  20  Bowl            1.131          0.115          -0.011         0              0              0              64
  21  Bread           -1.263         1.484          1.197          0              90             0              90
  22  PepperShaker    1.117          0.882          2.369          0              0              0              102
  23  Apple           1.470          0.146          1.440          0              0              0              91
  24  Apple           -1.105         0.809          2.087          0              0              0              51
  25  Bread           -1.206         0.814          1.092          0              90             0              90
  26  Glassbottle     -1.162         0.342          1.092          0              90             0              90
  27  Fork            1.117          0.886          2.692          0              180            0              102
  28  Kettle          -1.357         0.739          3.024          0              240.000        0              51
  29  Tomato          1.034          0.936          2.584          0              0              0              102
  30  Plate           1.207          0.912          0.139          0              0              0              70
  31  CellPhone       1.128          0.909          0.706          0              0              0              70
  32  Lettuce         -1.105         0.820          2.459          0              0              0              51
  33  Pot             0.802          0.939          -0.740         0              90             0              79
  34  SoapBottle      -1.197         0.750          2.273          0              0              0              51
  35  WineBottle      -1.197         0.750          3.015          0              0              0              51
  36  Spatula         -0.658         0.927          -0.589         0              0              0              76
  37  Bowl            1.444          0.909          -0.144         0              0              0              70
  38  Apple           -1.475         0.809          2.273          0              0              0              51
  39  Cup             1.325          1.655          -0.453         0              0              0              52
  40  Knife           -0.919         0.770          2.459          0              90             0              51
  41  Egg             -1.130         0.375          0.883          0              90             0              90
  42  SaltShaker      -1.286         0.908          -0.477         0              0              0              76
  43  PepperShaker    1.034          0.882          2.369          0              0              0              102
  44  Potato          -1.149         1.333          1.197          0              90             0              90
  45  ButterKnife     -1.383         0.748          2.459          0              0              0              51
  46  DishSponge      -1.433         0.911          -0.907         0              0              0              76
  47  Pan             -1.332         0.9            -0.699         0              345.0          0              76
  48  Spoon           1.128          0.912          0.422          0              0              0              70
  49  SprayBottle     1.523          0.910          0.422          0              0              0              70
  50  Mug             -1.105         0.744          1.902          0              0              0              51
  51  DiningTable     -1.182         0.006          2.414          0              90             0
  52  Cabinet         1.184          2.059          0.375          0              0              0
  53  Cabinet         1.184          2.059          -0.635         0              0              0
  54  Cabinet         0.591          2.309          -0.645         0              0              0
  55  Cabinet         -0.574         2.059          -0.644         0              0              0
  56  Cabinet         -1.103         2.059          -0.644         0              0              0
  57  Cabinet         -1.185         2.059          -0.331         0              0              0
  58  Cabinet         -1.185         2.059          -0.281         0              0              0
  59  Cabinet         -1.185         2.059          0.375          0              0              0
  60  Cabinet         1.184          2.309          1.174          0              0              0
  61  Cabinet         1.184          2.309          0.424          0              0              0
  62  Cabinet         0.988          0.402          0.581          0              0              0
  63  Cabinet         0.988          0.402          0.531          0              0              0
  64  Cabinet         0.988          0.402          -0.178         0              0              0
  65  Cabinet         0.335          0.402          -0.348         0              0              0
  66  Cabinet         -0.374         0.402          -0.348         0              0              0
  67  Cabinet         0.988          0.402          1.231          0              0              0
  68  Cabinet         -1.185         2.309          1.374          0              0              0
  69  Cabinet         -1.185         2.309          0.424          0              0              0
  70  CounterTop      1.274          0.947          0.064          0              0              0
  71  Drawer          1.116          0.792          -0.015         0              0              0
  72  Drawer          -1.116         0.792          0.210          0              180            0
  73  Cabinet         -0.990         0.402          0.374          0              180            0
  74  Drawer          -1.116         0.792          -0.170         0              180            0
  75  Cabinet         -0.990         0.402          -0.335         0              180            0
  76  CounterTop      -1.001         0.947          -0.669         0              0              0
  77  StoveBurner     0.502          0.932          -0.740         0              90             0
  78  StoveBurner     0.801          0.932          -0.473         0              0              0
  79  StoveBurner     0.801          0.932          -0.740         0              90             0
  80  Drawer          1.116          0.792          1.081          0              0              0
  81  Sink            -0.013         0.912          -0.615         0              0              0
  82  Drawer          1.116          0.792          0.732          0              0              0
  83  StoveBurner     0.502          0.932          -0.469         0              0              0
  84  Drawer          1.116          0.792          0.367          0              0              0
  85  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  86  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  87  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  89  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  90  Fridge          -1.300         0.008          0.987          0              90             0
  91  GarbageCan      1.296          -0.024         1.465          0              0              0
  92  Window          -0.012         1.641          -0.972         90             0              0
  93  Window          1.598          1.646          2.489          90             270            0
  94  Toaster         1.356          0.900          1.044          0              270            0
  95  LightSwitch     0.118          1.353          3.799          0              180            0
  96  Microwave       -1.343         0.900          0.053          0              90             0
  97  SinkBasin       -0.029         0.748          -0.612         0              0              0
  98  Faucet          -0.026         0.927          -0.808         0              0              0
  99  Shelf           -1.182         0.127          2.414          0              90             0
 100  Stool           1.140          0.007          3.262          1.206          20.753         0
 101  Shelf           -1.182         0.435          2.414          0              90             0
 102  DiningTable     1.169          0.014          2.569          0              0              1.896
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Walk straight, turn left to the counter. | STEP 2: Pick up the knife on the table. | STEP 3: Slice the green vegetable on the table. | STEP 4: Walk straight, turn right to the fridge. | STEP 5: Open the fridge, put the knife inside the fridge. Close the fridge | STEP 6: Turn right, walk straight, turn left to the counter. | STEP 7: Take a slice of the vegetable. | STEP 8: Turn left, walk straight, turn right to the fridge. | STEP 9: Open the fridge, put the slice next to the knife. Close the fridge. Open the fridge, take the slice, close the fridge. | STEP 10: Turn right, walk straight, turn right, turn right, turn right to the counter. | STEP 11: Put the slice on the counter. | END