Task: Place washed tomato slice on top shelf of refrigerator

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           0.900          1.75           0              180            0
   1  Book            -0.197         1.110          -0.506         0              0              0              64
   2  Pan             0.355          1.111          -0.253         0              0              0              64
   3  Pan             -0.036         0.950          -2.372         0              270            0              59
   4  Statue          0.217          1.110          -0.759         0              90             0              64
   5  Plate           0.453          0.907          -2.407         0              0              0              66
   6  Plate           -2.114         1.306          0.925          0              90             0              97
   7  Tomato          -1.290         0.950          -2.560         0              0              0              89
   8  Tomato          -0.197         1.150          0.757          0              0              0              64
   9  SaltShaker      -1.665         0.126          0.294          0              90             0              70
  10  Bread           -0.473         1.184          0.251          0              0              0              64
  11  Apple           -2.018         0.820          -1.673         0              90             0              99
  12  Knife           -0.335         1.136          -0.253         0              0              0              64
  13  Knife           -1.693         0.936          -2.366         0              0              0              89
  14  Fork            0.324          0.911          -2.330         0              90             0              66
  15  Fork            -2.019         0.911          -0.884         0              180            0              89
  16  Spoon           -0.473         1.112          -0.506         0              0              0              64
  17  Mug             -1.963         0.764          -1.414         0              90             0              99
  18  Mug             -1.731         0.956          -0.168         0              90             0              98
  19  Spatula         -1.653         0.168          -0.342         0              0              0              87
  20  ButterKnife     -0.995         0.911          -2.483         0              0              0              89
  21  Kettle          -0.465         0.950          -2.372         0              90             0              62
  22  Kettle          -0.465         0.950          -2.576         0              90             0              73
  23  Glassbottle     -1.512         1.659          -2.531         0              0              0              80
  24  WineBottle      -1.935         0.048          2.029          0              270            0              95
  25  WineBottle      -0.840         1.657          -2.676         0              0              0              78
  26  DishSponge      -1.696         0.793          0.155          0              90             0              61
  27  DishSponge      1.064          0.645          -2.291         0              0              0              69
  28  Bowl            1.789          0.549          -2.666         0              180            0              94
  29  Book            0.155          1.1            0.617          0              315            0              64
  30  Glassbottle     1.478          0.553          -2.511         0              180            0              94
  31  Knife           -1.609         0.936          -1.869         0              90             0              89
  32  Bread           0.079          1.184          -0.506         0              0              0              64
  33  Fork            -1.852         0.770          -1.673         0              90             0              99
  34  Potato          -1.742         0.800          -1.328         0              90             0              99
  35  SoapBottle      -1.346         1.659          -2.531         0              0              0              80
  36  Kettle          -1.715         0.130          0.158          0              90             0              70
  37  Pan             0.721          0.9            -2.415         0              0              0              66
  38  Plate           -0.225         1.787          -2.546         0              0              0              90
  39  Tomato          0.969          0.949          -2.484         0              0              0              66
  40  Vase            0.450          0.142          -2.337         0              0              0              81
  41  Egg             0.582          0.945          -2.253         0              0              0              66
  42  CreditCard      1.062          0.773          -2.420         0              0              0              60
  43  Statue          -0.197         1.110          -0.001         0              0              0              64
  44  WineBottle      0.783          1.661          -2.564         0              0              0              86
  45  Pot             -1.219         0.9            -2.356         0              0              0              89
  46  Spatula         -1.797         0.784          -1.242         0              0              0              99
  47  PaperTowelRoll  1.584          0.985          -2.590         0              180            0              91
  48  Cup             -2.026         1.303          1.343          0              90             0              97
  49  Vase            0.582          0.908          -2.637         0              0              0              66
  50  Bowl            -1.797         0.766          -1.501         0              90             0              99
  51  SaltShaker      0.835          0.138          -2.479         0              0              0              84
  52  PepperShaker    1.993          0.877          -2.590         0              180            0              91
  53  Lettuce         -0.848         0.991          -2.637         0              0              0              89
  54  ButterKnife     0.949          0.646          -2.375         0              0              0              69
  55  Apple           -1.290         0.961          -2.713         0              0              0              89
  56  DishSponge      1.789          0.880          -2.590         0              180            0              94
  57  Spoon           1.007          0.143          -2.334         0              0              0              84
  58  Mug             1.582          0.548          -2.511         0              180            0              94
  59  StoveBurner     -0.036         0.915          -2.372         0              0              0
  60  Drawer          0.949          0.832          -2.197         0              0              0
  61  Drawer          -1.560         0.839          0.204          0              90             0
  62  StoveBurner     -0.465         0.915          -2.371         0              180            0
  63  Drawer          -1.560         0.839          -0.197         0              90             0
  64  CounterTop      -0.079         1.147          -0.001         0              0              0
  65  Cabinet         -1.549         0.494          -1.964         0              90             0
  66  CounterTop      0.693          0.946          -2.483         0              0              0
  67  StoveBurner     -0.036         0.915          -2.576         0              0              0
  68  Drawer          0.949          0.393          -2.200         0              0              0
  69  Drawer          0.949          0.708          -2.200         0              0              0
  70  Cabinet         -1.549         0.494          0.379          0              90             0
  71  StoveKnob       -0.022         0.881          -2.187         45             0              0
  72  Drawer          0.949          0.560          -2.201         0              0              0
  73  StoveBurner     -0.465         0.915          -2.575         0              180            0
  74  Window          -2.230         1.429          -1.203         0              0              0
  75  StoveKnob       -0.483         0.881          -2.187         45             0              0
  76  Sink            -1.899         0.964          -1.5           0              90             0
  77  StoveKnob       -0.328         0.881          -2.187         45             0              0
  78  Cabinet         -0.727         2.015          -2.460         0              0              0
  79  Drawer          -1.560         0.655          -0.196         0              90             0
  80  Cabinet         -1.685         2.015          -2.461         0              0              0
  81  Cabinet         0.680          0.494          -2.200         0              0              0
  82  Cabinet         -1.179         0.494          -2.200         0              0              0
  83  Cabinet         -1.849         2.015          0.379          0              90             0
  84  Drawer          0.949          0.221          -2.200         0              0              0
  85  StoveKnob       -0.183         0.881          -2.187         45             0              0
  86  Cabinet         0.719          2.015          -2.460         0              0              0
  87  Drawer          -1.560         0.331          -0.196         0              90             0
  88  Cabinet         0.680          2.015          -2.460         0              0              0
  89  CounterTop      -1.868         0.946          -1.205         0              0              0
  90  Microwave       -0.236         1.689          -2.525         0              0              0
  91  Shelf           1.751          0.880          -2.560         0              0              0
  92  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  93  Toaster         -1.835         0.900          0.134          0              90             0
  94  Shelf           1.750          0.552          -2.559         0              0              0
  95  GarbageCan      -1.935         -0.002         2.029          0              270            0
  96  Shelf           1.750          0.172          -2.559         0              0              0
  97  Fridge          -2.096         0.0            1.088          0              0              0
  98  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  99  SinkBasin       -1.908         0.759          -1.488         0              90             0
 100  LightSwitch     2.329          1.309          -0.159         0              270            0
 101  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 102  Stool           0.702          0.000          -0.514         1.202          65.108         0
 103  Stool           0.743          0.000          0.563          1.227          106.706        0
 104  Faucet          -2.070         1.132          -1.514         0              0              0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: turn right, go around center counter to counter to the right of stove | STEP 2: pick up knife to the right of round pot | STEP 3: slice tomato on counter behind round pot and in front of apple | STEP 4: turn right to face the sink | STEP 5: place knife with handle on edge of sink and blade over the sink | STEP 6: turn left to face counter with round pot | STEP 7: pick up tomato slice in between round pot and apple | STEP 8: turn to the right and face sink | STEP 9: place tomato slice to the left of bowl in sink | STEP 10: turn on water, pick up tomato slice from sink | STEP 11: go to refrigerator to the right, open refrigerator, place tomato slice on top shelf of refrigerator, close refrigerator | END