Task: Putting a tomato slice 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           -1.5           0.900          1.0            0              270            0
   1  Potato          -3.440         1.592          3.203          0              90             0              66
   2  Ladle           -2.514         1.164          0.284          0              0              0              59
   3  DishSponge      -1.522         0.048          0.551          0              0              0              64
   4  Egg             -1.465         0.961          0.290          0              0              0              71
   5  Egg             -1.663         1.184          0.095          0              0              0              46
   6  Cup             -0.662         1.045          3.266          0              0              0              49
   7  Cup             -0.662         1.045          1.920          0              0              0              49
   8  SoapBottle      -3.849         0.113          2.068          0              0              0              70
   9  Tomato          -0.168         1.088          1.920          0              0              0              49
  10  Tomato          -1.885         1.165          0.190          0              0              0              59
  11  Bowl            -3.307         1.284          2.991          0              90             0              66
  12  Bowl            -2.262         1.122          0.567          0              0              0              59
  13  PepperShaker    -1.076         0.045          0.608          0              0              0              53
  14  PepperShaker    -0.538         1.044          2.817          0              0              0              49
  15  Bread           -0.908         1.133          2.817          0              0              0              49
  16  Bread           -0.908         1.134          3.266          0              0              0              49
  17  Lettuce         -0.662         1.124          3.042          0              0              0              49
  18  Mug             -1.522         0.044          0.438          0              0              0              64
  19  Mug             -3.639         1.557          2.990          0              90             0              66
  20  Apple           -3.572         1.354          3.132          0              90             0              66
  21  Apple           -2.514         1.192          0.662          0              0              0              59
  22  Fork            -0.292         1.047          2.593          0              0              0              49
  23  SoapBottle      -0.538         1.048          2.144          0              0              0              49
  24  Pot             -3.475         1.133          0.48           0              90             0              47
  25  Ladle           -0.785         1.087          2.817          0              90             0              49
  26  Potato          -1.553         0.962          0.221          0              0              0              71
  27  Plate           -0.908         1.046          1.920          0              0              0              49
  28  Bread           -3.373         1.647          2.991          0              90             0              66
  29  Lettuce         -0.662         1.124          2.593          0              0              0              49
  30  Spatula         -1.376         0.946          0.428          0              90             0              71
  31  Pan             -3.000         1.133          0.480          0              270            0              54
  32  Egg             -0.908         1.077          2.144          0              0              0              49
  33  Cup             -1.288         0.929          0.636          0              0              0              71
  34  SaltShaker      -0.415         1.043          2.144          0              0              0              49
  35  Knife           -1.553         0.963          0.428          0              90             0              71
  36  Bowl            -0.785         1.045          2.144          0              0              0              49
  37  PepperShaker    -2.370         0.899          0.645          0              0              0              58
  38  ButterKnife     -0.715         1.124          0.387          0              0              0              61
  39  Apple           -3.593         0.179          1.978          0              0              0              70
  40  Tomato          -3.887         1.165          0.284          0              0              0              56
  41  DishSponge      -1.156         0.049          0.437          0              0              0              53
  42  Spoon           -0.715         1.126          0.296          0              0              0              61
  43  Mug             -0.883         1.119          0.569          0              0              0              61
  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: Turn left and walk to the sink | STEP 2: Grab the knife out of the sink | STEP 3: Turn around and head to the right side of the table | STEP 4: Cut the tomato on the table into slices | STEP 5: Turn around and head to the sink | STEP 6: Put the knife in the sink | STEP 7: Turn around and head to the tomato on the table | STEP 8: Grab one of the tomato slices on the table | STEP 9: Turn left and head to the fridge | STEP 10: Put the tomato in the fridge. Close the fridge. Then take the tomato out of the fridge | STEP 11: Turn around and head to the sink | STEP 12: Put the tomato in the sink | END