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           -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: Turn to the counter on the right | STEP 2: Grab the small knife that is on the counter | STEP 3: Turn left and stop at the sink | STEP 4: Look down at the sink | STEP 5: Cut the tomato in the sink into slices | STEP 6: Put the knife on the counter to the right of the sink | STEP 7: Look down at the sink | STEP 8: Grab one of the tomato slices out of the sink | STEP 9: Turn around and head to the fridge | STEP 10: Open the fridge and put the tomato in the fridge. Close the door. Open the fridge and take the tomato out | STEP 11: Turn around and head to the sink | STEP 12: Put the tomato in the sink | END