Task: place chilled tomato slice in sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.901          2.0            0              0              0
   1  Potato          -0.272         0.831          0.545          0              0              0              77
   2  Potato          2.168          1.363          -0.007         0              270            0              71
   3  WineBottle      -0.115         0.082          2.265          0              0              0              44
   4  WineBottle      1.920          0.938          1.866          0              0              0              50
   5  Ladle           -0.053         0.982          2.478          0              0              0              50
   6  DishSponge      -0.272         0.937          2.425          0              0              0              50
   7  ButterKnife     -0.349         0.782          0.713          0              0              0              77
   8  Spatula         1.850          0.760          1.991          0              90             0              65
   9  Spoon           1.170          0.796          2.64           0              0              0              74
  10  Fork            -0.042         0.791          1.386          0              0              0              77
  11  Cup             1.223          0.793          2.529          0              0              0              74
  12  Plate           0.566          0.085          2.523          0              0              0              57
  13  Knife           2.301          0.963          0.509          0              90             0              61
  14  SoapBottle      -0.119         0.791          0.377          0              0              0              77
  15  SoapBottle      1.298          0.082          2.562          0              0              0              56
  16  Bowl            -0.294         1.032          2.014          0              90             0              75
  17  Lettuce         2.112          1.385          -0.188         0              270            0              71
  18  Lettuce         -0.196         0.852          1.217          0              0              0              77
  19  Egg             1.223          0.837          2.750          0              0              0              74
  20  Lettuce         0.033          0.852          0.881          0              0              0              77
  21  Fork            -0.272         0.791          0.377          0              0              0              77
  22  SoapBottle      1.085          0.082          2.562          0              0              0              56
  23  Ladle           1.673          0.982          2.589          0              0              0              50
  24  Ladle           2.206          1.545          1.963          0              0              0              53
  25  Bread           -0.200         0.824          0.827          0              0              0              77
  26  SaltShaker      0.033          0.785          0.713          0              90             0              77
  27  Potato          2.074          0.977          2.260          0              90             0              50
  28  Pan             2.140          0.935          1.106          0              0              0              52
  29  WineBottle      2.280          1.504          0.388          0              0              0              48
  30  Spatula         1.941          0.760          0.583          0              270            0              59
  31  Knife           -0.042         0.816          0.881          0              90             0              77
  32  Tomato          -0.425         0.837          0.881          0              0              0              77
  33  Apple           2.122          0.652          -0.007         0              270            0              71
  34  ButterKnife     1.660          0.926          2.473          0              352.515        0              50
  35  Pot             1.854          0.937          1.497          0              0              0              54
  36  PepperShaker    2.127          1.498          0.388          0              0              0              48
  37  Cup             1.925          0.080          1.844          0              0              0              46
  38  DishSponge      1.906          0.937          2.898          0              0              0              50
  39  Plate           1.925          0.086          2.128          0              0              0              46
  40  Spoon           1.941          0.746          0.721          0              0              0              59
  41  Mug             2.064          0.989          2.462          0              225            0              76
  42  Bowl            -0.042         0.787          0.545          0              0              0              77
  43  Cabinet         2.041          2.113          2.618          0              0              0
  44  Cabinet         0.126          0.388          1.774          0              0              0
  45  StoveBurner     2.140          0.929          1.504          0              180            0
  46  Cabinet         1.760          0.388          2.346          0              0              0
  47  Cabinet         1.760          0.388          0.869          0              0              0
  48  Cabinet         2.041          1.810          0.283          0              0              0
  49  Drawer          -0.024         0.774          2.061          0              0              0
  50  CounterTop      1.065          0.973          2.666          0              0              0
  51  Cabinet         1.969          2.113          2.618          0              0              0
  52  StoveBurner     2.140          0.929          1.106          0              0              0
  53  Cabinet         2.041          2.113          1.809          0              0              0
  54  StoveBurner     1.866          0.929          1.504          0              180            0
  55  Cabinet         2.041          2.113          1.766          0              0              0
  56  Cabinet         1.514          0.388          2.360          0              0              0
  57  Cabinet         0.351          0.388          2.360          0              0              0
  58  Cabinet         2.041          1.810          0.872          0              0              0
  59  Drawer          2.167          0.774          0.582          0              0              0
  60  Cabinet         2.041          2.113          0.892          0              0              0
  61  CounterTop      2.060          0.973          0.583          0              0              0
  62  Sink            0.935          0.936          2.646          0              0              0
  63  Curtains        0.964          2.061          2.989          0              0              0
  64  StoveBurner     1.863          0.929          1.106          0              0              0
  65  Drawer          1.911          0.774          2.060          0              0              0
  66  StoveKnob       2.326          1.092          1.610          288.013        90             0
  67  StoveKnob       2.326          1.092          1.460          288.013        90             0
  68  StoveKnob       2.326          1.092          1.210          288.013        90             0
  69  StoveKnob       2.326          1.092          1.050          288.013        90             0
  70  Toaster         2.126          0.926          0.572          0              270            0
  71  Fridge          2.104          0.0            -0.279         0              270            0
  72  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  73  LightSwitch     0.354          1.518          -1.031         0              0              0
  74  SinkBasin       0.903          0.784          2.640          0              0              0
  75  Microwave       -0.310         0.926          2.077          0              90             0
  76  CoffeeMachine   2.084          0.927          2.667          0              225            0
  77  DiningTable     -0.153         -0.000         1.073          0              270            0
  78  Faucet          1.175          0.926          2.950          270            90             0
  79  Faucet          0.686          0.926          2.950          270            90             0
  80  Chair           -0.077         0.002          0.196          0              15.000         0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: turn around, go to white table to the right | STEP 2: pick up knife in between green melon and brown coconut on table | STEP 3: look to back of table to tomato | STEP 4: slice tomato on table | STEP 5: go to the left to silver bowl on white table | STEP 6: place knife in silver bowl on table | STEP 7: go to the right to tomato on table | STEP 8: pick up tomato slice from table | STEP 9: turn around, go to black refrigerator to the right | STEP 10: open refrigerator, place tomato slice on top shelf of refrigerator, close refrigerator, open refrigerator, pick up tomato slice from top shelf of refrigerator, close refrigerator | STEP 11: turn left, go to right sink | STEP 12: place tomato slice to the left of silver object in sink | END