Task: Slice a tomato and cool it.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.900          0.5            0              180            0
   1  Pan             0.905          1.132          1.444          0              0              0              80
   2  Vase            -0.550         0.934          -1.540         0              0              0              57
   3  Potato          0.905          0.893          1.444          0              270            0              80
   4  CellPhone       0.793          0.150          -0.690         0              270            0              60
   5  ButterKnife     0.773          0.911          -0.381         0              0              0              58
   6  Glassbottle     -1.571         0.882          2.746          0              0              0              84
   7  Glassbottle     -0.550         0.934          0.315          0              0              0              57
   8  Fork            0.875          0.702          -0.607         0              0              0              55
   9  Spoon           -0.697         0.777          -0.745         0              90             0              78
  10  Spoon           0.834          0.496          -0.607         0              270            0              61
  11  Spatula         -0.698         0.948          0.009          0              0              0              57
  12  Egg             -1.054         0.214          0.543          0              180            0              77
  13  Egg             -0.808         0.814          -0.832         0              90             0              78
  14  Plate           1.194          1.669          -0.593         0              270            0              66
  15  Plate           1.101          1.669          0.089          0              270            0              65
  16  SoapBottle      1.082          2.208          -1.191         0              270            0              64
  17  Bowl            1.082          2.211          -0.973         0              270            0              64
  18  SaltShaker      1.194          1.662          -0.401         0              270            0              66
  19  PepperShaker    0.713          0.491          -0.772         0              270            0              61
  20  Bread           -1.229         1.014          -0.118         0              0              0              57
  21  Apple           0.844          1.693          0.967          0              270            0              80
  22  Apple           -0.587         0.830          -0.400         0              90             0              78
  23  Statue          -1.355         0.936          0.144          0              0              0              57
  24  Glassbottle     1.114          0.912          -0.555         0              0              0              58
  25  Bread           1.029          0.992          -0.208         0              0              0              58
  26  CreditCard      0.833          0.150          -0.611         0              270            0              60
  27  CellPhone       -1.363         0.550          2.770          0              0              0              83
  28  Potato          -0.865         0.207          0.608          0              180            0              77
  29  Knife           -0.624         0.957          -0.067         0              90             0              57
  30  Fork            0.944          0.911          -0.555         0              0              0              58
  31  Pan             0.848          0.946          -1.080         0              0              0              51
  32  Lettuce         1.026          1.212          1.063          0              270            0              80
  33  Plate           0.966          1.405          1.254          0              270            0              80
  34  Apple           0.905          0.913          1.158          0              270            0              80
  35  Pot             1.077          0.950          -1.504         0              0              0              53
  36  Spatula         -0.753         0.791          -0.573         0              180            0              78
  37  PaperTowelRoll  0.688          1.015          -0.034         0              0              0              58
  38  Tomato          1.199          0.952          -0.381         0              0              0              58
  39  Egg             1.126          1.833          -1.339         0              270            0              79
  40  SaltShaker      0.875          0.491          -0.690         0              270            0              61
  41  PepperShaker    0.794          0.491          -0.565         0              270            0              61
  42  Vase            1.101          1.666          -1.961         0              270            0              56
  43  ButterKnife     0.773          0.911          -0.208         0              0              0              58
  44  SoapBottle      1.212          2.208          -1.191         0              270            0              64
  45  Vase            -0.550         0.934          -1.231         0              0              0              57
  46  Bowl            1.169          2.211          -1.408         0              270            0              64
  47  DishSponge      -1.570         0.553          2.718          0              0              0              83
  48  Spoon           1.029          0.912          -0.729         0              0              0              58
  49  Cup             1.060          1.792          -1.132         0              270            0              79
  50  Mug             1.026          0.858          0.967          0              270            0              80
  51  StoveBurner     0.842          0.919          -1.098         0              0              0
  52  Cabinet         0.648          0.474          0.244          0              270            0
  53  StoveBurner     1.077          0.919          -1.504         0              0              0
  54  StoveBurner     0.842          0.919          -1.504         0              0              0
  55  Drawer          0.637          0.755          -0.649         0              270            0
  56  Cabinet         0.949          2.159          -2.375         0              270            0
  57  CounterTop      -1.238         0.968          -0.643         0              0              0
  58  CounterTop      0.931          0.946          -0.208         0              0              0
  59  StoveBurner     1.077          0.919          -1.098         0              0              0
  60  Drawer          0.637          0.268          -0.649         0              270            0
  61  Drawer          0.637          0.547          -0.649         0              270            0
  62  Cabinet         0.648          0.475          -1.714         0              0              0
  63  CounterTop      0.931          0.946          -2.051         0              0              0
  64  Cabinet         0.948          2.439          -1.780         0              270            0
  65  Cabinet         0.948          2.159          -0.140         0              270            0
  66  Cabinet         0.949          2.159          -0.758         0              270            0
  67  Sink            -0.699         0.927          -0.649         0              0              0
  68  LightSwitch     -2.371         1.218          3.049          0              180            0
  69  StoveKnob       0.673          0.899          -1.373         315            90             180
  70  StoveKnob       0.673          0.899          -1.519         315            90             180
  71  StoveKnob       0.673          0.899          -1.086         315            90             180
  72  StoveKnob       0.673          0.899          -1.237         315            90             180
  73  Toaster         0.984          0.900          0.329          0              270            0
  74  Window          0.014          0.998          -2.640         90             0              0
  75  Window          -2.996         0.998          -2.640         90             0              0
  76  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  77  GarbageCan      -0.946         -0.036         0.575          0              180            0
  78  SinkBasin       -0.698         0.765          -0.647         0              90             0
  79  Microwave       1.042          1.680          -1.295         0              270            0
  80  Fridge          0.966          0.0            1.253          0              0              0
  81  HousePlant      -1.354         0.919          -1.540         0              0              0
  82  Shelf           -1.635         0.172          2.715          0              180            0
  83  Shelf           -1.635         0.552          2.715          0              180            0
  84  Shelf           -1.635         0.880          2.715          0              180            0
  85  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  86  Chair           -1.832         0.002          -0.034         0              119.999        0
  87  Chair           -1.854         0.002          -0.956         0              67.887         0
  88  Faucet          -0.867         1.161          -0.651         0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn around, take a step, turn right and walk across the room to the refrigerator.  Turn right at the refrigerator and walk forward to the dish washer in the middle of the room.  Turn left and face the dish washer. | STEP 2: Pick up the knife on the left next to the roll of paper towels. | STEP 3: Turn right, take a step and turn left to face the counter. | STEP 4: Slice the tomato. | STEP 5: Turn right and walk to the wall.  At the wall, turn left and face the counter. | STEP 6: Put the knife down in front of the keurig. | STEP 7: Turn left and walk forward to the middle of the room.  At the dish washer, turn right and face the counter. | STEP 8: Pick up the right end of the tomato. | STEP 9: Turn left and walk forward with the tomato slice to the front of the refrigerator.  Face the refrigerator. | STEP 10: Open the refrigerator door and put the tomato slice in the refrigerator in between the egg and the apple toward the front of the shelf.  Close the door.  Open the door and grab the tomato slice.  Close the refrigerator door. | STEP 11: Turn right and walk to the other side of the room.  At the wall, turn left and face the counter in front of the keurig. | STEP 12: Put the tomato slice down to the left of the knife. | END