Task: Cut a tomato slice, refrigerate it, place it on a sponge

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          1.25           0              0              0
   1  DishSponge      -2.497         0.486          0.579          0              0              0              60
   2  DishSponge      -3.798         0.112          2.038          0              0              0              68
   3  Fork            -2.514         1.125          0.662          0              0              0              57
   4  Egg             -2.639         1.155          0.473          0              0              0              57
   5  Cup             -1.522         0.047          0.551          0              0              0              62
   6  Plate           -3.44          1.285          2.991          0              90             0              64
   7  Knife           -1.376         0.963          0.359          0              0              0              69
   8  SoapBottle      -2.450         0.095          0.512          0              0              0              50
   9  Tomato          -0.538         1.087          2.144          0              0              0              47
  10  Bowl            -3.440         1.560          2.920          0              90             0              64
  11  PepperShaker    -1.996         0.899          0.645          0              0              0              55
  12  PepperShaker    -0.292         1.044          1.920          0              0              0              47
  13  Bread           -0.908         1.133          2.144          0              0              0              47
  14  Bread           -0.908         1.134          1.920          0              0              0              47
  15  Lettuce         -0.662         1.125          3.042          0              0              0              47
  16  Lettuce         -0.785         1.125          3.266          0              0              0              47
  17  Mug             -0.377         1.095          3.194          0              270            0              63
  18  Apple           -0.538         1.115          2.817          0              0              0              47
  19  Apple           -3.506         0.979          2.849          0              90             0              64
  20  Fork            -1.199         0.932          0.290          0              0              0              69
  21  SoapBottle      -2.042         0.487          0.512          0              0              0              48
  22  Pot             -3.000         1.133          0.227          0              270            0              61
  23  Ladle           -0.785         1.086          2.817          0              90             0              47
  24  Potato          -0.662         1.078          3.266          0              0              0              47
  25  Plate           -1.195         0.047          0.494          0              0              0              51
  26  Bread           -0.908         1.134          3.042          0              0              0              47
  27  Lettuce         -2.388         1.202          0.473          0              0              0              57
  28  Spatula         -3.778         1.139          0.095          0              90             0              54
  29  Pan             -0.785         1.046          2.369          0              180            0              47
  30  Egg             -3.644         0.142          1.978          0              0              0              68
  31  Cup             -1.288         0.929          0.428          0              0              0              69
  32  SaltShaker      -0.939         1.121          0.296          0              0              0              59
  33  Knife           -2.514         1.157          0.190          0              0              0              57
  34  Bowl            -3.307         0.909          3.061          0              90             0              64
  35  PepperShaker    -0.883         1.121          0.478          0              0              0              59
  36  ButterKnife     -0.538         1.047          3.042          0              0              0              47
  37  Apple           -2.137         1.192          0.473          0              0              0              57
  38  Tomato          -0.168         1.087          2.144          0              0              0              47
  39  DishSponge      -1.111         0.931          0.359          0              0              0              69
  40  Spoon           -1.092         1.155          0.108          0              0              0              44
  41  Mug             -1.483         0.044          0.438          0              0              0              62
  42  StoveKnob       -3.322         1.053          0.709          45             0              0
  43  StoveBurner     -3.474         1.097          0.227          0              180            0
  44  Sink            -1.394         0.982          0.439          0              0              0
  45  StoveBurner     -3.474         1.097          0.479          0              180            0
  46  StoveKnob       -3.164         1.053          0.709          45             0              0
  47  DiningTable     -0.620         0.017          2.486          0              0              0
  48  Drawer          -2.043         0.608          0.594          0              0              0
  49  Drawer          -2.043         0.216          0.594          0              0              0
  50  Drawer          -2.498         0.216          0.594          0              0              0
  51  Cabinet         -1.001         0.393          0.734          0              0              0
  52  StoveBurner     -3.000         1.097          0.480          0              0              0
  53  StoveKnob       -3.492         1.053          0.709          45             0              0
  54  CounterTop      -3.856         1.160          0.379          0              0              0
  55  Drawer          -2.043         0.937          0.599          0              0              0
  56  Drawer          -2.509         0.937          0.599          0              0              0
  57  CounterTop      -2.280         1.160          0.379          0              0              0
  58  StoveKnob       -2.985         1.053          0.709          45             0              0
  59  CounterTop      -0.514         1.160          0.492          0              0              0
  60  Drawer          -2.498         0.608          0.594          0              0              0
  61  StoveBurner     -3.000         1.097          0.227          0              0              0
  62  Cabinet         -1.733         0.393          0.734          0              0              0
  63  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  64  Fridge          -3.519         0.0            2.717          0              90             0
  65  Window          -1.394         1.924          0.014          90             0              0
  66  Window          -3.266         1.924          0.014          90             0              0
  67  Toaster         -0.225         1.038          2.865          0              270            0
  68  GarbageCan      -3.696         0.002          2.008          0              0              0
  69  SinkBasin       -1.389         0.921          0.428          0              0              0
  70  Microwave       -0.366         1.113          0.430          0              0              0
  71  HousePlant      -2.155         1.101          0.169          0              332.897        0
  72  LightSwitch     -2.584         1.299          3.5            0              180            0
  73  Faucet          -1.393         1.373          0.168          0              270            0
  74  NorthWall
  75  SouthWall
  76  SouthWall

Plan:
STEP 1: Walk towards the door of the wall you are facing with the sunshine on it, hang a right towards the table just before reaching the wall. | STEP 2: Walk to the loaf of bread and pick up the knife that is under the head of lettuce nearest the coffee maker and toaster and to the left of the apple. | STEP 3: Turn right and walk to the other end of the table and stop at the loaf of bread nearest the frying pan. | STEP 4: Slice the tomato nearest the center of the table and closest to the frying pan and the bread. | STEP 5: Turn to your left and walk to the end of the table closest to the door, stop and face the loaf of bread to your right. | STEP 6: Put the knife down on the table to the right of the loaf of bread and on top of the handle of the spoon behind and to the right of the bread. | STEP 7: Turn and walk towards your right, stop and face the table when you reach the frying pan and the loaf of bread directly in front of the tomato. | STEP 8: Pick up a center slice from the tomato. | STEP 9: Turn to your left and walk towards the end of the table nearest the door and hang a left to the refrigerator. | STEP 10: Walk to the refrigerator, open the refrigerator door, place the tomato slice on the left side of the second shelf from the top near the front edge of the shelf, close the refrigerator door; open the refrigerator door and pick up the tomato slice, close the refrigerator door. | STEP 11: Turn to your left and walk towards the microwave oven. | STEP 12: Place the tomato slice on the green sponge. | END