Task: Place a chilled tomato slice on the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          3.0            0              270            0
   1  Potato          -0.790         0.790          -1.629         0              0              0              66
   2  ButterKnife     0.732          0.910          1.004          0              270            0              39
   3  DishSponge      1.183          0.910          -1.247         0              90             0              43
   4  DishSponge      1.245          0.910          0.827          0              90             0              39
   5  Spoon           1.762          0.911          0.415          0              270            0              39
   6  Spoon           0.989          0.911          0.915          0              90             0              39
   7  Egg             1.800          0.105          1.684          0              270            0              57
   8  Plate           -0.692         0.462          -1.541         0              0              0              66
   9  SoapBottle      1.501          0.908          1.004          0              90             0              39
  10  Tomato          0.476          0.974          1.269          0              90             0              39
  11  Bowl            1.762          0.909          0.518          0              90             0              39
  12  SaltShaker      1.733          1.648          -0.257         0              0              0              50
  13  PepperShaker    1.935          0.906          -1.288         0              90             0              43
  14  PepperShaker    1.805          1.628          -0.828         0              0              0              51
  15  Mug             0.502          0.940          -1.460         0              0              0              65
  16  Mug             0.963          0.755          -1.654         0              270            0              58
  17  Plate           1.757          0.912          1.180          0              90             0              39
  18  SoapBottle      1.769          1.652          -0.449         0              0              0              50
  19  Cup             1.451          0.908          0.415          0              90             0              39
  20  Egg             1.77           0.105          1.588          0              270            0              57
  21  Fork            1.205          0.752          -1.725         0              0              0              58
  22  Ladle           1.806          1.699          0.045          0              0              0              49
  23  Apple           1.501          0.967          1.180          0              90             0              39
  24  SaltShaker      1.805          1.628          -0.901         0              180            0              51
  25  Pan             1.281          0.900          1.190          0              0              0              39
  26  Tomato          0.220          0.974          1.092          0              90             0              39
  27  Spatula         1.796          0.926          -1.460         0              90             0              43
  28  Potato          1.607          0.950          0.311          0              90             0              39
  29  Knife           1.139          0.761          -1.584         271.557        81.666         278.487        58
  30  ButterKnife     0.296          0.9            -1.296         0              14.568         0              43
  31  Bread           1.615          0.977          0.761          0              50.525         0              39
  32  Lettuce         0.856          0.989          1.120          0              270            1.472          39
  33  PepperShaker    1.516          0.906          -1.460         0              0              0              43
  34  Pot             1.807          0.909          -0.320         0              180            0              41
  35  DishSponge      1.726          0.910          -1.288         0              90             0              43
  36  Spoon           0.476          0.911          0.827          0              90             0              39
  37  Bowl            1.796          0.910          -1.545         0              90             0              43
  38  Mug             -0.295         1.059          -1.382         0              0              0              66
  39  CounterTop      0.989          0.946          1.016          0              90             0
  40  StoveBurner     1.807          0.907          0.075          0              180            0
  41  StoveBurner     1.807          0.907          -0.320         0              180            0
  42  StoveBurner     1.543          0.907          -0.320         0              90             0
  43  CounterTop      0.989          0.946          -1.516         0              90             0
  44  Sink            1.100          0.906          -1.599         0              0              0
  45  StoveBurner     1.548          0.907          0.075          0              180            0
  46  Cabinet         1.658          2.299          1.313          0              0              0
  47  Cabinet         1.658          2.299          0.686          0              0              0
  48  Cabinet         1.658          2.049          0.673          0              0              0
  49  Cabinet         1.658          2.059          0.193          0              0              0
  50  Cabinet         1.658          2.059          -0.593         0              0              0
  51  Cabinet         1.658          2.049          -0.606         0              0              0
  52  Cabinet         1.658          2.049          -1.206         0              0              0
  53  Cabinet         1.658          2.049          -1.893         0              0              0
  54  Toaster         0.131          0.900          -1.589         0              0              0
  55  Window          -0.372         1.588          3.349          90             0              0
  56  Window          0.782          1.741          -1.893         90             0              0
  57  GarbageCan      1.770          -0.029         1.685          0              270            0
  58  SinkBasin       1.091          0.740          -1.599         0              0              0
  59  StoveKnob       1.364          0.821          0.086          48.421         270            0
  60  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  61  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  62  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  63  Microwave       1.752          0.900          -0.843         0              270            0
  64  LightSwitch     2.0            1.261          3.094          0              270            0
  65  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  66  Fridge          -0.533         0.0            -1.554         0              0              0
  67  Chair           1.068          0.000          1.752          0              191.622        0
  68  Faucet          1.110          1.138          -1.764         0              270            0
  69  Chair           0.357          0.000          1.710          0              178.899        0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: Move towards the white door, then turn left and move towards the refrigerator, then turn left and move to the range then turn right and move to the sink in front of the window. | STEP 2: Pick up the knife with the gold handle in front of the black cup from the sink.  | STEP 3: Turn right, move towards the refrigerator, then turn right and move to the end of the counter next to the two yellow chairs. | STEP 4: Slice the tomato closest to the end of the counter using the knife. | STEP 5: Turn to the right and move to the refrigerator. | STEP 6: Open the refrigerator and place the knife on the right bottom shelf in front of the white plate and then close the refrigerator door. | STEP 7: Turn around and move to the end of the counter then turn right and face the counter. | STEP 8: Pick up the tomato slice nearest to the end of the counter. | STEP 9: Turn right and move to the refrigerator. | STEP 10: Open the refrigerator doors, place the tomato slice on the top left shelf to the right of the mug, chill the tomato slice, open the refrigerator, pick up the tomato slice from the shelf, and then close the refrigerator door. | STEP 11: Turn left, move towards the black microwave then turn right and face the gray coffee maker. | STEP 12: Place the tomato slice on the counter in front of the coffee maker and to the left of the knife. | END