Task: put a cooked slice of tomato on a plate in the sink

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          1.0            0              270            0
   1  Potato          -3.798         0.142          2.008          0              0              0              70
   2  Potato          -1.553         0.962          0.428          0              0              0              71
   3  ButterKnife     -2.137         1.124          0.662          0              0              0              59
   4  ButterKnife     -0.662         1.047          3.042          0              0              0              49
   5  Fork            -0.715         1.125          0.478          0              0              0              61
   6  Fork            -0.827         1.125          0.659          0              0              0              61
   7  Spoon           -2.042         0.096          0.613          0              270            0              51
   8  Spoon           -0.908         1.049          2.817          0              0              0              49
   9  Spatula         -0.785         1.062          2.144          0              0              0              49
  10  Spatula         -0.662         1.062          1.920          0              90             0              49
  11  Cup             -0.309         1.210          0.410          0              0              0              72
  12  Knife           -2.388         1.157          0.662          0              0              0              59
  13  Knife           -1.376         0.963          0.498          0              180            0              71
  14  SoapBottle      -1.663         1.154          0.095          0              0              0              46
  15  SoapBottle      -0.785         1.048          3.042          0              0              0              49
  16  Tomato          -1.642         0.972          0.567          0              0              0              71
  17  SaltShaker      -0.662         1.044          2.817          0              0              0              49
  18  PepperShaker    -1.680         0.045          0.665          0              0              0              64
  19  Lettuce         -2.514         1.202          0.379          0              0              0              59
  20  Mug             -3.506         1.555          2.920          0              90             0              66
  21  Apple           -1.553         0.998          0.221          0              0              0              71
  22  Fork            -2.497         0.096          0.579          0              0              0              52
  23  SoapBottle      -0.771         1.125          0.115          0              0              0              61
  24  Pot             -0.827         1.129          0.296          0              0              0              71
  25  Ladle           -1.601         0.088          0.551          0              90             0              64
  26  Potato          -3.248         0.759          2.849          0              90             0              66
  27  Plate           -1.193         0.921          0.403          0              0              0              71
  28  Bread           -0.785         1.133          2.593          0              0              0              49
  29  Lettuce         -3.339         0.969          3.081          0              228.265        312.447        66
  30  Spatula         -0.168         1.062          1.920          0              0              0              49
  31  Pan             -3.475         1.133          0.48           0              90             0              47
  32  Egg             -3.639         0.942          2.849          0              90             0              66
  33  Cup             -3.248         0.726          2.991          0              90             0              66
  34  SaltShaker      -0.538         1.043          2.817          0              0              0              49
  35  Knife           -2.262         1.157          0.190          0              0              0              59
  36  Bowl            -1.235         0.047          0.437          0              0              0              53
  37  PepperShaker    -2.639         0.483          0.646          0              0              0              52
  38  ButterKnife     -0.662         1.048          2.369          0              0              0              49
  39  Apple           -3.593         0.179          2.038          0              0              0              70
  40  Tomato          -0.785         1.088          1.920          0              0              0              49
  41  DishSponge      -1.235         0.049          0.608          0              0              0              53
  42  Spoon           -2.450         0.488          0.613          0              270            0              62
  43  Mug             -0.662         1.042          3.266          0              0              0              49
  44  StoveKnob       -3.322         1.053          0.709          45             0              0
  45  StoveBurner     -3.474         1.097          0.227          0              180            0
  46  Sink            -1.394         0.982          0.439          0              0              0
  47  StoveBurner     -3.474         1.097          0.479          0              180            0
  48  StoveKnob       -3.164         1.053          0.709          45             0              0
  49  DiningTable     -0.620         0.017          2.486          0              0              0
  50  Drawer          -2.043         0.608          0.594          0              0              0
  51  Drawer          -2.043         0.216          0.594          0              0              0
  52  Drawer          -2.498         0.216          0.594          0              0              0
  53  Cabinet         -1.001         0.393          0.734          0              0              0
  54  StoveBurner     -3.000         1.097          0.480          0              0              0
  55  StoveKnob       -3.492         1.053          0.709          45             0              0
  56  CounterTop      -3.856         1.160          0.379          0              0              0
  57  Drawer          -2.043         0.937          0.599          0              0              0
  58  Drawer          -2.509         0.937          0.599          0              0              0
  59  CounterTop      -2.280         1.160          0.379          0              0              0
  60  StoveKnob       -2.985         1.053          0.709          45             0              0
  61  CounterTop      -0.514         1.160          0.492          0              0              0
  62  Drawer          -2.498         0.608          0.594          0              0              0
  63  StoveBurner     -3.000         1.097          0.227          0              0              0
  64  Cabinet         -1.733         0.393          0.734          0              0              0
  65  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  66  Fridge          -3.519         0.0            2.717          0              90             0
  67  Window          -1.394         1.924          0.014          90             0              0
  68  Window          -3.266         1.924          0.014          90             0              0
  69  Toaster         -0.225         1.038          2.865          0              270            0
  70  GarbageCan      -3.696         0.002          2.008          0              0              0
  71  SinkBasin       -1.389         0.921          0.428          0              0              0
  72  Microwave       -0.366         1.113          0.430          0              0              0
  73  HousePlant      -2.155         1.101          0.169          0              332.897        0
  74  LightSwitch     -2.584         1.299          3.5            0              180            0
  75  Faucet          -1.393         1.373          0.168          0              270            0
  76  NorthWall
  77  SouthWall
  78  SouthWall

Plan:
STEP 1: move forward and turn to the left to face the counter between the sink and the stove | STEP 2: pick up the knife on the edge of the counter that is to the left of the knife with the yellow handle | STEP 3: turn to the left and move to face the sink on the right | STEP 4: slice the tomato that is in the right corner of the sink with the knife | STEP 5: move closer to the counter that is to the right of the sink | STEP 6: put the knife on the counter next to the sink | STEP 7: move to face the sink in front of the sliced tomato | STEP 8: remove a slice of tomato from the sink | STEP 9: turn around, move across the room, turn left moving to face the fridge,  | STEP 10: open fridge doors, put the slice of tomato on the right hand side on the left front corner of the top shelf, close the doors, open the doors, remove the tomato slice and close the doors | STEP 11: turn left and move across the room to face the sink | STEP 12: put the tomato slice on the plate that is on the left side of the sink | END