Task: Place washed tomato slice on top shelf of refrigerator

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          -0.25          0              180            0
   1  Pan             -2.081         1.502          0.925          0              180            0              95
   2  Statue          0.217          1.110          -0.253         0              90             0              62
   3  Statue          -0.335         1.110          -0.759         0              0              0              62
   4  Vase            -1.855         0.133          -1.273         0              90             0              63
   5  CreditCard      1.007          0.643          -2.459         0              0              0              67
   6  Plate           -1.814         0.126          0.248          0              90             0              68
   7  Plate           -0.197         1.108          0.251          0              0              0              62
   8  Cup             -2.018         0.767          -1.328         0              90             0              97
   9  Cup             -0.070         1.788          -2.610         0              0              0              88
  10  Egg             -0.059         1.146          0.251          0              0              0              62
  11  Tomato          -2.158         1.345          1.092          0              90             0              95
  12  SoapBottle      0.217          1.112          -0.001         0              0              0              62
  13  SaltShaker      0.506          0.136          -2.288         0              0              0              79
  14  SaltShaker      -0.995         0.907          -2.637         0              0              0              87
  15  Apple           -2.162         0.849          0.837          0              90             0              95
  16  Spoon           0.582          0.911          -2.560         0              0              0              64
  17  Mug             -0.059         1.106          -0.001         0              0              0              62
  18  Spatula         -1.825         0.809          0.331          0              180            0              59
  19  Spatula         -1.290         0.926          -2.253         0              0              0              87
  20  Pot             -0.036         0.950          -2.372         0              270            0              57
  21  ButterKnife     -1.963         0.769          -1.587         0              270            0              97
  22  Kettle          -1.805         0.137          -1.623         0              90             0              63
  23  Kettle          -1.852         0.770          -1.414         0              90             0              97
  24  Glassbottle     -1.908         0.770          -1.242         0              90             0              97
  25  WineBottle      1.993          0.881          -2.617         0              180            0              89
  26  WineBottle      -1.200         0.137          -2.503         0              0              0              80
  27  Book            -0.197         1.110          0.757          0              0              0              62
  28  Glassbottle     -1.611         0.912          -0.884         0              0              0              87
  29  Knife           0.969          0.936          -2.330         0              0              0              64
  30  Bread           0.217          1.184          0.504          0              0              0              62
  31  Fork            0.355          1.112          -0.759         0              0              0              62
  32  Potato          -0.335         1.142          -0.001         0              0              0              62
  33  SoapBottle      -0.473         1.112          -0.253         0              0              0              62
  34  Kettle          -0.465         0.950          -2.576         0              90             0              71
  35  Pan             0.721          0.9            -2.415         0              0              0              64
  36  Plate           -0.898         1.653          -2.604         0              0              0              76
  37  Tomato          -1.586         0.950          -2.713         0              0              0              87
  38  Vase            0.341          1.662          -2.596         0              0              0              86
  39  Egg             -1.989         0.083          2.124          0              270            0              93
  40  CreditCard      1.582          0.550          -2.511         0              180            0              92
  41  Statue          1.893          0.551          -2.511         0              180            0              92
  42  WineBottle      -1.935         0.048          1.981          0              270            0              93
  43  Pot             -2.070         1.313          0.925          0              90             0              95
  44  Spatula         1.066          0.330          -2.431         0              90             0              66
  45  PaperTowelRoll  0.079          1.215          0.757          0              0              0              62
  46  Cup             1.584          0.878          -2.509         0              180            0              89
  47  Vase            1.098          0.908          -2.407         0              0              0              64
  48  Bowl            -1.401         1.654          -2.604         0              0              0              78
  49  SaltShaker      -1.781         0.474          -0.196         0              90             0              77
  50  PepperShaker    -1.438         0.907          -2.637         0              0              0              87
  51  Lettuce         0.217          1.191          0.251          0              0              0              62
  52  ButterKnife     0.840          0.910          -2.637         0              0              0              64
  53  Apple           -0.122         1.841          -2.482         0              0              0              88
  54  DishSponge      0.835          0.142          -2.382         0              0              0              82
  55  Spoon           -1.852         0.770          -1.587         0              180            0              97
  56  Mug             -1.567         1.653          -2.531         0              270            0              78
  57  StoveBurner     -0.036         0.915          -2.372         0              0              0
  58  Drawer          0.949          0.832          -2.197         0              0              0
  59  Drawer          -1.560         0.839          0.204          0              90             0
  60  StoveBurner     -0.465         0.915          -2.371         0              180            0
  61  Drawer          -1.560         0.839          -0.197         0              90             0
  62  CounterTop      -0.079         1.147          -0.001         0              0              0
  63  Cabinet         -1.549         0.494          -1.964         0              90             0
  64  CounterTop      0.693          0.946          -2.483         0              0              0
  65  StoveBurner     -0.036         0.915          -2.576         0              0              0
  66  Drawer          0.949          0.393          -2.200         0              0              0
  67  Drawer          0.949          0.708          -2.200         0              0              0
  68  Cabinet         -1.549         0.494          0.379          0              90             0
  69  StoveKnob       -0.022         0.881          -2.187         45             0              0
  70  Drawer          0.949          0.560          -2.201         0              0              0
  71  StoveBurner     -0.465         0.915          -2.575         0              180            0
  72  Window          -2.230         1.429          -1.203         0              0              0
  73  StoveKnob       -0.483         0.881          -2.187         45             0              0
  74  Sink            -1.899         0.964          -1.5           0              90             0
  75  StoveKnob       -0.328         0.881          -2.187         45             0              0
  76  Cabinet         -0.727         2.015          -2.460         0              0              0
  77  Drawer          -1.560         0.655          -0.196         0              90             0
  78  Cabinet         -1.685         2.015          -2.461         0              0              0
  79  Cabinet         0.680          0.494          -2.200         0              0              0
  80  Cabinet         -1.179         0.494          -2.200         0              0              0
  81  Cabinet         -1.849         2.015          0.379          0              90             0
  82  Drawer          0.949          0.221          -2.200         0              0              0
  83  StoveKnob       -0.183         0.881          -2.187         45             0              0
  84  Cabinet         0.719          2.015          -2.460         0              0              0
  85  Drawer          -1.560         0.331          -0.196         0              90             0
  86  Cabinet         0.680          2.015          -2.460         0              0              0
  87  CounterTop      -1.868         0.946          -1.205         0              0              0
  88  Microwave       -0.236         1.689          -2.525         0              0              0
  89  Shelf           1.751          0.880          -2.560         0              0              0
  90  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  91  Toaster         -1.835         0.900          0.134          0              90             0
  92  Shelf           1.750          0.552          -2.559         0              0              0
  93  GarbageCan      -1.935         -0.002         2.029          0              270            0
  94  Shelf           1.750          0.172          -2.559         0              0              0
  95  Fridge          -2.096         0.0            1.088          0              0              0
  96  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  97  SinkBasin       -1.908         0.759          -1.488         0              90             0
  98  LightSwitch     2.329          1.309          -0.159         0              270            0
  99  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 100  Stool           0.702          0.000          -0.514         1.202          65.108         0
 101  Stool           0.743          0.000          0.563          1.227          106.706        0
 102  Faucet          -2.070         1.132          -1.514         0              0              0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: go to sink to the right | STEP 2: pick up knife on back left side of sink | STEP 3: turn to counter on left with salt shakers | STEP 4: slice tomato to the right of salt shaker | STEP 5: go to sink to the right | STEP 6: place knife in left side of sink | STEP 7: go to counter to the right with tomato  | STEP 8: pick up slice of tomato from counter | STEP 9: go to sink to the right | STEP 10: place tomato in right, front side of sink, turn on water, remove tomato slice from sink | STEP 11: go to refrigerator to the right, open refrigerator | STEP 12: place tomato slice on top shelf of refrigerator, close refrigerator | END