Task: Put a chilled slice of tomato 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           -3.25          0.900          -2.25          0              90             0
   1  Pan             0.905          1.399          1.444          0              0              0              77
   2  Potato          -1.229         0.963          -1.430         0              0              0              54
   3  CreditCard      0.859          0.908          -0.729         0              0              0              55
   4  CreditCard      0.874          0.150          -0.650         0              270            0              57
   5  DishSponge      1.240          1.665          -2.029         0              270            0              53
   6  DishSponge      -0.808         0.780          -0.659         0              90             0              75
   7  ButterKnife     0.773          0.911          0.139          0              0              0              55
   8  ButterKnife     -0.698         0.933          -1.540         0              0              0              54
   9  Glassbottle     -0.96          0.177          0.641          0              180            0              74
  10  Glassbottle     0.861          0.109          -2.212         0              0              0              59
  11  Fork            0.875          0.495          -0.690         0              0              0              58
  12  Spoon           -0.846         0.934          -1.463         0              0              0              54
  13  Spoon           -1.229         0.934          -0.905         0              0              0              54
  14  Knife           1.029          0.934          -0.034         0              0              0              55
  15  Knife           -0.697         0.803          -0.573         0              270            0              75
  16  Egg             -1.007         0.216          0.510          0              180            0              74
  17  Lettuce         0.688          0.988          -0.729         0              0              0              55
  18  Bread           1.026          1.216          1.254          0              270            0              77
  19  Mug             1.093          1.790          -1.132         0              270            0              76
  20  Statue          0.859          0.914          -0.555         0              0              0              55
  21  Glassbottle     1.055          1.667          -2.302         0              270            0              53
  22  Bread           -0.805         0.996          0.222          0              241.695        0              54
  23  CreditCard      -1.229         0.930          -0.380         0              0              0              54
  24  CellPhone       0.688          0.908          0.313          0              0              0              55
  25  Potato          -0.587         0.807          -0.573         0              90             0              75
  26  Knife           -0.550         0.943          0.171          21.594         357.153        0              54
  27  Fork            0.875          0.494          -0.607         0              0              0              58
  28  Pan             0.848          0.946          -1.080         0              0              0              48
  29  Lettuce         0.966          0.940          1.158          0              270            0              77
  30  Plate           0.811          0.111          -1.972         0              0              0              59
  31  Apple           0.844          1.452          1.254          0              270            0              77
  32  Pot             1.077          0.950          -1.504         0              0              0              50
  33  Spatula         0.859          0.926          -0.381         0              0              0              55
  34  PaperTowelRoll  -0.865         0.281          0.543          0              180            0              74
  35  Tomato          0.944          0.952          -0.208         0              0              0              55
  36  Egg             -0.587         0.818          -0.832         0              90             0              75
  37  SaltShaker      0.875          0.490          -0.772         0              270            0              58
  38  PepperShaker    0.754          0.698          -0.524         0              270            0              52
  39  Vase            0.859          0.911          -1.793         0              0              0              60
  40  ButterKnife     -1.292         0.933          -0.643         0              0              0              54
  41  SoapBottle      0.862          0.121          0.398          0              270            0              49
  42  Vase            -1.363         0.555          2.718          0              0              0              80
  43  Bowl            1.029          0.914          0.139          0              0              0              55
  44  DishSponge      -0.477         0.921          0.086          0              0              0              54
  45  Spoon           -0.698         0.934          -1.463         0              0              0              54
  46  Cup             1.126          2.205          -1.299         0              270            0              61
  47  Mug             1.193          1.661          0.153          0              270            0              62
  48  StoveBurner     0.842          0.919          -1.098         0              0              0
  49  Cabinet         0.648          0.474          0.244          0              270            0
  50  StoveBurner     1.077          0.919          -1.504         0              0              0
  51  StoveBurner     0.842          0.919          -1.504         0              0              0
  52  Drawer          0.637          0.755          -0.649         0              270            0
  53  Cabinet         0.949          2.159          -2.375         0              270            0
  54  CounterTop      -1.238         0.968          -0.643         0              0              0
  55  CounterTop      0.931          0.946          -0.208         0              0              0
  56  StoveBurner     1.077          0.919          -1.098         0              0              0
  57  Drawer          0.637          0.268          -0.649         0              270            0
  58  Drawer          0.637          0.547          -0.649         0              270            0
  59  Cabinet         0.648          0.475          -1.714         0              0              0
  60  CounterTop      0.931          0.946          -2.051         0              0              0
  61  Cabinet         0.948          2.439          -1.780         0              270            0
  62  Cabinet         0.948          2.159          -0.140         0              270            0
  63  Cabinet         0.949          2.159          -0.758         0              270            0
  64  Sink            -0.699         0.927          -0.649         0              0              0
  65  LightSwitch     -2.371         1.218          3.049          0              180            0
  66  StoveKnob       0.673          0.899          -1.373         315            90             180
  67  StoveKnob       0.673          0.899          -1.519         315            90             180
  68  StoveKnob       0.673          0.899          -1.086         315            90             180
  69  StoveKnob       0.673          0.899          -1.237         315            90             180
  70  Toaster         0.984          0.900          0.329          0              270            0
  71  Window          0.014          0.998          -2.640         90             0              0
  72  Window          -2.996         0.998          -2.640         90             0              0
  73  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  74  GarbageCan      -0.946         -0.036         0.575          0              180            0
  75  SinkBasin       -0.698         0.765          -0.647         0              90             0
  76  Microwave       1.042          1.680          -1.295         0              270            0
  77  Fridge          0.966          0.0            1.253          0              0              0
  78  HousePlant      -1.354         0.919          -1.540         0              0              0
  79  Shelf           -1.635         0.172          2.715          0              180            0
  80  Shelf           -1.635         0.552          2.715          0              180            0
  81  Shelf           -1.635         0.880          2.715          0              180            0
  82  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  83  Chair           -1.832         0.002          -0.034         0              119.999        0
  84  Chair           -1.854         0.002          -0.956         0              67.887         0
  85  Faucet          -0.867         1.161          -0.651         0              0              0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Go forward and go around the island to the counter above the dishwasher. | STEP 2: Pick up the yellow knife from the counter.  | STEP 3: Move over right to the red tomato on the counter between the knife and the spatula.  | STEP 4: Slice a half of the tomato on the counter.  | STEP 5: Place the knife on the counter in front of the tomato.  | STEP 6: Take one slice of the tomato from the counter. | STEP 7: Turn left and go to the refrigerator.  | STEP 8: Remove the tomato slice after it's been chilled on the middle shelf in the refrigerator.  | STEP 9: Turn right and go back to the counter with the sliced tomato on top.  | STEP 10: Place the chilled tomato slice on the counter in front of the rest of the tomato.  | END