Task: Cut a slice of tomato, wash it, put it inside the fridge

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          -0.25          0              270            0
   1  Statue          1.419          0.918          -2.183         0              0              0              79
   2  Potato          -0.117         0.793          -2.118         0              0              0              89
   3  Potato          1.813          1.045          -1.402         0              270            0              84
   4  DishSponge      0.055          0.762          -2.063         0              0              0              89
   5  DishSponge      -1.063         0.913          0.241          0              0              0              72
   6  ButterKnife     -1.239         0.911          -1.638         0              0              0              79
   7  Kettle          2.798          0.553          0.090          0              270            0              85
   8  Pot             -1.056         0.956          -0.672         0              180            0              51
   9  Spoon           -0.420         0.914          0.294          0              270            0              72
  10  Spoon           -0.713         0.693          0.146          0              270            0              73
  11  Egg             1.846          1.049          -1.245         0              270            0              84
  12  Plate           -0.152         1.129          0.573          0              0              0              75
  13  Knife           -0.849         0.937          0.241          0              270            0              72
  14  Knife           -0.657         0.717          -1.935         0              90             0              49
  15  SoapBottle      2.487          0.552          0.038          0              180            0              85
  16  Tomato          2.055          1.148          -0.830         0              270            0              86
  17  Tomato          1.945          0.866          -0.737         0              270            0              86
  18  Tomato          1.836          1.148          -0.830         0              270            0              86
  19  PepperShaker    -0.645         0.688          0.146          0              180            0              73
  20  Bread           1.945          1.509          -0.458         0              270            0              86
  21  Pan             -1.056         0.956          -1.127         0              0              0              76
  22  Knife           -0.031         0.786          -2.063         0              90             0              89
  23  Bowl            2.591          0.549          0.245          0              180            0              85
  24  Fork            -0.375         1.132          0.662          0              180            0              75
  25  Cup             0.101          0.750          -1.938         0              0              0              89
  26  Ladle           1.868          0.948          -1.929         0              0              0              79
  27  Apple           -1.278         0.962          0.294          0              0              0              72
  28  Kettle          -1.289         0.957          -0.756         0              180            0              54
  29  Vase            1.588          1.655          -2.200         0              90             0              52
  30  Potato          1.945          1.129          -0.830         0              270            0              86
  31  Pot             -1.289         0.957          -1.02          0              0              0              69
  32  Bread           1.945          0.899          -0.458         0              270            0              86
  33  Plate           -0.985         0.134          -0.250         0              0              0              66
  34  Spatula         -0.997         0.928          -0.231         0              0              0              72
  35  PaperTowelRoll  -1.278         1.017          0.083          0              0              0              72
  36  Vase            -0.657         0.917          -2.014         0              0              0              79
  37  Egg             0.969          0.944          -2.098         0              0              0              79
  38  SoapBottle      1.949          1.659          -1.276         0              0              0              56
  39  SaltShaker      -1.322         0.907          -1.891         0              0              0              79
  40  Lettuce         -1.330         0.990          -0.231         0              0              0              72
  41  PepperShaker    2.491          0.876          0.195          0              180            0              83
  42  ButterKnife     0.008          0.913          0.030          0              0              0              72
  43  DishSponge      2.002          0.062          0.109          0              0              0              82
  44  Vase            -0.192         0.113          0.121          0              180            0              67
  45  Spoon           -1.157         0.912          -1.891         0              0              0              79
  46  Tomato          -1.018         0.960          -2.267         0              0              0              79
  47  Mug             1.945          1.422          -0.644         0              270            0              86
  48  Statue          -0.375         1.138          0.529          0              90             0              75
  49  Drawer          -0.819         0.75           -1.690         0              0              0
  50  Cabinet         -1.149         2.264          -0.838         0              90             0
  51  StoveBurner     -1.056         0.949          -0.671         0              180            0
  52  Cabinet         1.738          2.019          -2.000         0              0              0
  53  Cabinet         1.389          0.469          -1.059         0              0              0
  54  StoveBurner     -1.289         0.949          -0.755         0              180            0
  55  Faucet          -0.157         1.052          -2.196         0              270            0
  56  Cabinet         1.75           2.019          -1.029         0              0              0
  57  Cabinet         1.75           2.019          -1.399         0              0              0
  58  Cabinet         1.179          2.019          -2.0           0              0              0
  59  Cabinet         0.199          2.019          -2.0           0              0              0
  60  Cabinet         -1.100         2.019          -2.0           0              0              0
  61  Cabinet         -1.149         2.019          -1.979         0              0              0
  62  Cabinet         -1.149         2.019          -0.770         0              0              0
  63  Cabinet         -1.149         2.019          0.380          0              0              0
  64  Cabinet         -0.819         0.469          -1.689         0              0              0
  65  Cabinet         -0.839         0.469          -1.664         0              0              0
  66  Cabinet         -0.839         0.469          -0.049         0              0              0
  67  Cabinet         -0.414         0.370          -0.009         0              0              0
  68  Sink            -0.118         0.875          -2.009         0              0              0
  69  StoveBurner     -1.289         0.949          -1.019         0              0              0
  70  Cabinet         0.119          2.264          -2.0           0              0              0
  71  Cabinet         -0.459         2.264          -2.0           0              0              0
  72  CounterTop      -0.665         0.949          0.188          0              0              0
  73  Drawer          -0.449         0.75           -0.010         0              180            0
  74  Cabinet         -0.450         0.469          -0.009         0              0              0
  75  CounterTop      -0.630         1.167          0.573          0              0              0
  76  StoveBurner     -1.056         0.949          -1.126         0              0              0
  77  Cabinet         1.376          0.460          -1.685         0              0              0
  78  Drawer          -0.070         0.75           -0.009         0              180            0
  79  CounterTop      1.159          0.946          -2.013         0              0              0
  80  Cabinet         -1.150         2.264          -1.418         0              90             0
  81  HousePlant      -1.246         1.108          0.606          0              0              0
  82  GarbageCan      1.923          -0.010         0.137          0              0              0
  83  Shelf           2.759          0.880          0.144          0              0              0
  84  Microwave       1.827          0.900          -1.354         0              270            0
  85  Shelf           2.759          0.552          0.145          0              0              0
  86  Fridge          1.975          0.0            -0.537         0              0              0
  87  LightSwitch     0.404          1.297          2.0            0              180            0
  88  Shelf           2.760          0.172          0.145          0              0              0
  89  SinkBasin       -0.129         0.752          -2.007         0              0              0
  90  StoveKnob       -0.873         0.903          -0.827         45             90             0
  91  StoveKnob       -0.873         0.903          -0.676         45             90             0
  92  StoveKnob       -0.873         0.903          -0.966         45             90             0
  93  StoveKnob       -0.873         0.903          -1.123         45             90             0
  94  Toaster         0.840          0.900          -2.057         0              0              0
  95  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  96  ShelvingUnit    2.760          0.006          0.144          0              0              0
  97  Stool           -0.826         0.010          0.908          0              347.513        0
  98  Stool           -0.132         0.010          0.883          0              71.555         0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn left, walk towards the sink | STEP 2: Pick up the yellow knife from inside the sink | STEP 3: Turn left, turn right, walk towards the black fridge | STEP 4: Open the fridge, slice the red tomato inside the back | STEP 5: Turn right and walk back towards the sink | STEP 6: Put the yellow knife inside the sink | STEP 7: Turn left, walk back to the fridge and open it | STEP 8: Take out a slice of the cut tomato | STEP 9: Turn right, walk back to the sink and put the red tomato inside | STEP 10: Turn on the water faucet, turn off the water faucet, take out the slice of tomato | STEP 11: Turn left, walk to the fridge, and open it | STEP 12: put the slice of tomato inside the fridge and close the fridge door | END