Task: slice a tomato put it in the 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          1.0            0              180            0
   1  Potato          -3.542         0.142          1.948          0              0              0              72
   2  Potato          -0.662         1.078          2.369          0              0              0              51
   3  Ladle           -2.011         1.164          0.473          0              0              0              61
   4  DishSponge      -0.168         1.046          2.144          0              0              0              51
   5  Pot             -1.199         0.935          0.567          0              0              0              73
   6  Fork            -0.538         1.048          3.042          0              0              0              51
   7  Fork            -3.851         1.125          0.379          0              90             0              58
   8  Egg             -3.778         1.155          0.190          0              0              0              58
   9  Egg             -2.514         1.155          0.662          0              0              0              61
  10  Plate           -2.388         1.123          0.567          0              0              0              61
  11  Knife           -0.415         1.079          2.817          0              0              0              51
  12  Knife           -0.662         1.079          3.042          0              90             0              51
  13  SoapBottle      -3.798         0.113          2.038          0              0              0              72
  14  SoapBottle      -0.771         1.125          0.206          0              0              0              63
  15  Tomato          -0.785         1.087          2.817          0              0              0              51
  16  Tomato          -0.659         1.165          0.115          0              0              0              63
  17  Tomato          -3.307         0.952          2.849          0              90             0              68
  18  Bowl            -0.785         1.045          3.042          0              0              0              51
  19  SaltShaker      -1.443         0.045          0.438          0              0              0              66
  20  Bread           -3.44          1.373          2.920          0              90             0              68
  21  Bread           -0.785         1.133          2.144          0              0              0              51
  22  Apple           -3.639         0.979          2.778          0              90             0              68
  23  Apple           -3.572         0.979          3.061          0              90             0              68
  24  Fork            -2.497         0.488          0.579          0              0              0              64
  25  SoapBottle      -2.403         0.488          0.613          0              0              0              52
  26  Pot             -1.199         0.935          0.290          0              0              0              73
  27  Ladle           -0.538         1.087          2.593          0              0              0              51
  28  Potato          -0.908         1.078          1.920          0              0              0              51
  29  Plate           -2.639         1.123          0.473          0              0              0              61
  30  Bread           -0.785         1.133          2.593          0              0              0              51
  31  Lettuce         -0.538         1.124          2.144          0              0              0              51
  32  Spatula         -0.415         1.063          1.920          0              0              0              51
  33  Pan             -3.000         1.133          0.227          0              270            0              65
  34  Egg             -3.572         1.590          3.203          0              90             0              68
  35  Cup             -0.785         1.046          2.369          0              0              0              51
  36  SaltShaker      -1.314         0.045          0.437          0              0              0              55
  37  Knife           -0.662         1.080          3.266          0              0              0              51
  38  Bowl            -1.156         0.047          0.494          0              0              0              55
  39  PepperShaker    -0.939         1.121          0.659          0              0              0              63
  40  ButterKnife     -1.465         0.931          0.428          0              0              0              73
  41  Apple           -1.642         0.998          0.221          0              0              0              73
  42  Tomato          -0.785         1.088          1.920          0              0              0              51
  43  DishSponge      -1.553         0.931          0.428          0              0              0              73
  44  Spoon           -0.168         1.049          1.920          0              0              0              51
  45  Mug             -3.440         1.557          2.849          0              90             0              68
  46  StoveKnob       -3.322         1.053          0.709          45             0              0
  47  StoveBurner     -3.474         1.097          0.227          0              180            0
  48  Sink            -1.394         0.982          0.439          0              0              0
  49  StoveBurner     -3.474         1.097          0.479          0              180            0
  50  StoveKnob       -3.164         1.053          0.709          45             0              0
  51  DiningTable     -0.620         0.017          2.486          0              0              0
  52  Drawer          -2.043         0.608          0.594          0              0              0
  53  Drawer          -2.043         0.216          0.594          0              0              0
  54  Drawer          -2.498         0.216          0.594          0              0              0
  55  Cabinet         -1.001         0.393          0.734          0              0              0
  56  StoveBurner     -3.000         1.097          0.480          0              0              0
  57  StoveKnob       -3.492         1.053          0.709          45             0              0
  58  CounterTop      -3.856         1.160          0.379          0              0              0
  59  Drawer          -2.043         0.937          0.599          0              0              0
  60  Drawer          -2.509         0.937          0.599          0              0              0
  61  CounterTop      -2.280         1.160          0.379          0              0              0
  62  StoveKnob       -2.985         1.053          0.709          45             0              0
  63  CounterTop      -0.514         1.160          0.492          0              0              0
  64  Drawer          -2.498         0.608          0.594          0              0              0
  65  StoveBurner     -3.000         1.097          0.227          0              0              0
  66  Cabinet         -1.733         0.393          0.734          0              0              0
  67  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  68  Fridge          -3.519         0.0            2.717          0              90             0
  69  Window          -1.394         1.924          0.014          90             0              0
  70  Window          -3.266         1.924          0.014          90             0              0
  71  Toaster         -0.225         1.038          2.865          0              270            0
  72  GarbageCan      -3.696         0.002          2.008          0              0              0
  73  SinkBasin       -1.389         0.921          0.428          0              0              0
  74  Microwave       -0.366         1.113          0.430          0              0              0
  75  HousePlant      -2.155         1.101          0.169          0              332.897        0
  76  LightSwitch     -2.584         1.299          3.5            0              180            0
  77  Faucet          -1.393         1.373          0.168          0              270            0
  78  NorthWall
  79  SouthWall
  80  SouthWall

Plan:
STEP 1: turn to the right face the sink | STEP 2: pick up the knife from the sink | STEP 3: turn around to the right go left face the refrigerator | STEP 4: open the refrigerator door slice the tomato that is in the refrigerator | STEP 5: turn around to the left open the refrigerator door again | STEP 6: leave knife inside the refrigerator | STEP 7: open the refrigerator door back again | STEP 8: pick up a slice of tomato | STEP 9: turn around to the left face the sink area | STEP 10: put the slice of tomato on the plate that is in the counter | STEP 11: pick up the plate with the tomato in it | STEP 12: turn to the right and across the room | STEP 13: open the refrigerator door and put the plate inside the refrigerator | END