Task: Put a knife and a cold 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           -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 to your left and go past the island, to the refrigerator, then turn to your right and go to the counter top to your right, just past the refrigerator.  | STEP 2: Pick up the knife directly in front of the loaf of bread, on the counter.  | STEP 3: Move over to the right side of the counter, near the stove.  | STEP 4: Cut the tomato on the back of the counter, to the left of the vase, into slices.  | STEP 5: Turn to your right and go to the end of the counter, where the coffee maker is, on your right.  | STEP 6: Place the knife on the drip pan of the coffee maker.  | STEP 7: Turn to your left and go back to the stove where the tomato is on, past the stove, and to your right.  | STEP 8: Pick up one of the tomato slices, on the counter.  | STEP 9: Turn to the refrigerator on your left.  | STEP 10: Place the tomato slice in the refrigerator, on the top shelf, between the apple and the egg, wait a moment for the tomato slice to chill, then remove the tomato from the refrigerator.  | STEP 11: Turn to your right and walk to the end of the kitchen, then turn to the counter on your left, where the knife is.  | STEP 12: Place the tomato on the counter to the left of the knife.  | END