Task: wash the sliced tomato, put it back to 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          -0.75          0              270            0
   1  Pan             -1.239         0.910          -1.806         0              180            0              81
   2  Potato          1.891          1.458          -0.830         0              270            0              88
   3  Kettle          -1.056         0.956          -1.127         0              0              0              78
   4  Kettle          1.469          1.654          -2.200         0              90             0              54
   5  Pot             -1.289         0.957          -1.02          0              0              0              71
   6  Pot             -1.289         0.957          -0.756         0              180            0              56
   7  Spatula         -0.376         0.778          -1.952         0              270            0              91
   8  Spatula         -0.117         0.778          -2.008         0              0              0              91
   9  Fork            -0.634         0.914          0.135          0              0              0              74
  10  Egg             -0.375         1.165          0.662          0              0              0              77
  11  Plate           -1.073         0.127          -1.501         0              0              0              67
  12  Plate           -1.313         1.660          0.163          0              0              0              65
  13  Tomato          2.000          1.148          -0.737         0              270            0              88
  14  Tomato          1.836          0.866          -0.644         0              270            0              88
  15  Tomato          1.963          0.112          0.138          0              0              0              84
  16  Bowl            -0.152         1.128          0.573          0              0              0              77
  17  Bowl            -1.330         0.910          -0.109         0              0              0              74
  18  PepperShaker    -0.119         0.691          0.056          0              180            0              80
  19  PepperShaker    -0.543         0.690          0.190          0              180            0              75
  20  Mug             2.055          0.812          -0.458         0              0              0              88
  21  Apple           2.000          1.476          -0.644         0              270            0              88
  22  Apple           1.878          1.064          -1.297         0              270            0              86
  23  Pan             1.743          0.9            -1.969         0              308.846        0              81
  24  Knife           0.008          0.937          0.030          0              180            0              74
  25  Bowl            -0.849         0.910          0.294          0              0              0              74
  26  Fork            -0.319         0.696          0.139          0              90             0              80
  27  Cup             0.101          0.750          -1.938         0              0              0              91
  28  Ladle           -0.205         0.950          0.030          0              0              0              74
  29  Apple           -0.031         0.811          -1.952         0              0              0              91
  30  Kettle          -1.047         0.953          -2.094         0              0              0              81
  31  Vase            1.877          1.654          -1.541         0              0              0              59
  32  Potato          1.945          0.847          -0.737         0              270            0              88
  33  Pot             -1.056         0.956          -0.672         0              180            0              53
  34  Bread           -1.148         0.981          -0.192         0              0              0              74
  35  Plate           -0.598         1.129          0.618          0              0              0              77
  36  Spatula         -0.117         0.778          -1.897         0              270            0              91
  37  PaperTowelRoll  0.008          1.017          0.030          0              0              0              74
  38  Vase            2.699          0.869          0.182          0              0              0              85
  39  Egg             -1.278         0.947          0.241          0              0              0              74
  40  SoapBottle      -0.534         0.112          0.218          0              180            0              76
  41  SaltShaker      -1.259         0.907          -2.014         0              0              0              81
  42  Lettuce         -0.256         0.867          -1.969         327.984        40.845         31.472         91
  43  PepperShaker    3.005          0.548          0.297          0              180            0              87
  44  ButterKnife     -1.075         0.911          -1.469         0              0              0              81
  45  DishSponge      -1.018         0.910          -2.014         0              0              0              81
  46  Vase            2.979          0.539          0.128          0              0              0              87
  47  Spoon           -0.822         1.132          0.573          0              0              0              77
  48  Tomato          0.071          1.181          0.618          0              0              0              77
  49  Mug             1.945          1.093          -0.458         0              270            0              88
  50  Statue          -1.322         0.918          -1.469         0              270            0              81
  51  Drawer          -0.819         0.75           -1.690         0              0              0
  52  Cabinet         -1.149         2.264          -0.838         0              90             0
  53  StoveBurner     -1.056         0.949          -0.671         0              180            0
  54  Cabinet         1.738          2.019          -2.000         0              0              0
  55  Cabinet         1.389          0.469          -1.059         0              0              0
  56  StoveBurner     -1.289         0.949          -0.755         0              180            0
  57  Faucet          -0.157         1.052          -2.196         0              270            0
  58  Cabinet         1.75           2.019          -1.029         0              0              0
  59  Cabinet         1.75           2.019          -1.399         0              0              0
  60  Cabinet         1.179          2.019          -2.0           0              0              0
  61  Cabinet         0.199          2.019          -2.0           0              0              0
  62  Cabinet         -1.100         2.019          -2.0           0              0              0
  63  Cabinet         -1.149         2.019          -1.979         0              0              0
  64  Cabinet         -1.149         2.019          -0.770         0              0              0
  65  Cabinet         -1.149         2.019          0.380          0              0              0
  66  Cabinet         -0.819         0.469          -1.689         0              0              0
  67  Cabinet         -0.839         0.469          -1.664         0              0              0
  68  Cabinet         -0.839         0.469          -0.049         0              0              0
  69  Cabinet         -0.414         0.370          -0.009         0              0              0
  70  Sink            -0.118         0.875          -2.009         0              0              0
  71  StoveBurner     -1.289         0.949          -1.019         0              0              0
  72  Cabinet         0.119          2.264          -2.0           0              0              0
  73  Cabinet         -0.459         2.264          -2.0           0              0              0
  74  CounterTop      -0.665         0.949          0.188          0              0              0
  75  Drawer          -0.449         0.75           -0.010         0              180            0
  76  Cabinet         -0.450         0.469          -0.009         0              0              0
  77  CounterTop      -0.630         1.167          0.573          0              0              0
  78  StoveBurner     -1.056         0.949          -1.126         0              0              0
  79  Cabinet         1.376          0.460          -1.685         0              0              0
  80  Drawer          -0.070         0.75           -0.009         0              180            0
  81  CounterTop      1.159          0.946          -2.013         0              0              0
  82  Cabinet         -1.150         2.264          -1.418         0              90             0
  83  HousePlant      -1.246         1.108          0.606          0              0              0
  84  GarbageCan      1.923          -0.010         0.137          0              0              0
  85  Shelf           2.759          0.880          0.144          0              0              0
  86  Microwave       1.827          0.900          -1.354         0              270            0
  87  Shelf           2.759          0.552          0.145          0              0              0
  88  Fridge          1.975          0.0            -0.537         0              0              0
  89  LightSwitch     0.404          1.297          2.0            0              180            0
  90  Shelf           2.760          0.172          0.145          0              0              0
  91  SinkBasin       -0.129         0.752          -2.007         0              0              0
  92  StoveKnob       -0.873         0.903          -0.827         45             90             0
  93  StoveKnob       -0.873         0.903          -0.676         45             90             0
  94  StoveKnob       -0.873         0.903          -0.966         45             90             0
  95  StoveKnob       -0.873         0.903          -1.123         45             90             0
  96  Toaster         0.840          0.900          -2.057         0              0              0
  97  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  98  ShelvingUnit    2.760          0.006          0.144          0              0              0
  99  Stool           -0.826         0.010          0.908          0              347.513        0
 100  Stool           -0.132         0.010          0.883          0              71.555         0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Turn left to the sink | STEP 2: Turn right to pick up the knife | STEP 3: Turn right then left, towards the refrigerator | STEP 4: Open the refrigerator door, then cut the tomato in the tray then close the door | STEP 5: Turn left and right to face the refrigerator | STEP 6: Open the door and put the knife in the tray and close the door | STEP 7: Face to the right then left | STEP 8: Open the door to get the sliced tomato. | STEP 9: Turn right and left, walk to the left then face the sink | STEP 10: Put the slice of tomato to the sink, turn the faucet on, turn it of when full  | STEP 11: Pick up the tomato, face the left then right, walk then turn right towards the refrigerator, face to the right then left  | STEP 12: Open the door and put it to the top tray | END