Task: Putting a sliced tomato 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           -1.75          0.900          1.25           0              0              0
   1  DishSponge      -2.497         0.486          0.579          0              0              0              60
   2  DishSponge      -3.798         0.112          2.038          0              0              0              68
   3  Fork            -2.514         1.125          0.662          0              0              0              57
   4  Egg             -2.639         1.155          0.473          0              0              0              57
   5  Cup             -1.522         0.047          0.551          0              0              0              62
   6  Plate           -3.44          1.285          2.991          0              90             0              64
   7  Knife           -1.376         0.963          0.359          0              0              0              69
   8  SoapBottle      -2.450         0.095          0.512          0              0              0              50
   9  Tomato          -0.538         1.087          2.144          0              0              0              47
  10  Bowl            -3.440         1.560          2.920          0              90             0              64
  11  PepperShaker    -1.996         0.899          0.645          0              0              0              55
  12  PepperShaker    -0.292         1.044          1.920          0              0              0              47
  13  Bread           -0.908         1.133          2.144          0              0              0              47
  14  Bread           -0.908         1.134          1.920          0              0              0              47
  15  Lettuce         -0.662         1.125          3.042          0              0              0              47
  16  Lettuce         -0.785         1.125          3.266          0              0              0              47
  17  Mug             -0.377         1.095          3.194          0              270            0              63
  18  Apple           -0.538         1.115          2.817          0              0              0              47
  19  Apple           -3.506         0.979          2.849          0              90             0              64
  20  Fork            -1.199         0.932          0.290          0              0              0              69
  21  SoapBottle      -2.042         0.487          0.512          0              0              0              48
  22  Pot             -3.000         1.133          0.227          0              270            0              61
  23  Ladle           -0.785         1.086          2.817          0              90             0              47
  24  Potato          -0.662         1.078          3.266          0              0              0              47
  25  Plate           -1.195         0.047          0.494          0              0              0              51
  26  Bread           -0.908         1.134          3.042          0              0              0              47
  27  Lettuce         -2.388         1.202          0.473          0              0              0              57
  28  Spatula         -3.778         1.139          0.095          0              90             0              54
  29  Pan             -0.785         1.046          2.369          0              180            0              47
  30  Egg             -3.644         0.142          1.978          0              0              0              68
  31  Cup             -1.288         0.929          0.428          0              0              0              69
  32  SaltShaker      -0.939         1.121          0.296          0              0              0              59
  33  Knife           -2.514         1.157          0.190          0              0              0              57
  34  Bowl            -3.307         0.909          3.061          0              90             0              64
  35  PepperShaker    -0.883         1.121          0.478          0              0              0              59
  36  ButterKnife     -0.538         1.047          3.042          0              0              0              47
  37  Apple           -2.137         1.192          0.473          0              0              0              57
  38  Tomato          -0.168         1.087          2.144          0              0              0              47
  39  DishSponge      -1.111         0.931          0.359          0              0              0              69
  40  Spoon           -1.092         1.155          0.108          0              0              0              44
  41  Mug             -1.483         0.044          0.438          0              0              0              62
  42  StoveKnob       -3.322         1.053          0.709          45             0              0
  43  StoveBurner     -3.474         1.097          0.227          0              180            0
  44  Sink            -1.394         0.982          0.439          0              0              0
  45  StoveBurner     -3.474         1.097          0.479          0              180            0
  46  StoveKnob       -3.164         1.053          0.709          45             0              0
  47  DiningTable     -0.620         0.017          2.486          0              0              0
  48  Drawer          -2.043         0.608          0.594          0              0              0
  49  Drawer          -2.043         0.216          0.594          0              0              0
  50  Drawer          -2.498         0.216          0.594          0              0              0
  51  Cabinet         -1.001         0.393          0.734          0              0              0
  52  StoveBurner     -3.000         1.097          0.480          0              0              0
  53  StoveKnob       -3.492         1.053          0.709          45             0              0
  54  CounterTop      -3.856         1.160          0.379          0              0              0
  55  Drawer          -2.043         0.937          0.599          0              0              0
  56  Drawer          -2.509         0.937          0.599          0              0              0
  57  CounterTop      -2.280         1.160          0.379          0              0              0
  58  StoveKnob       -2.985         1.053          0.709          45             0              0
  59  CounterTop      -0.514         1.160          0.492          0              0              0
  60  Drawer          -2.498         0.608          0.594          0              0              0
  61  StoveBurner     -3.000         1.097          0.227          0              0              0
  62  Cabinet         -1.733         0.393          0.734          0              0              0
  63  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  64  Fridge          -3.519         0.0            2.717          0              90             0
  65  Window          -1.394         1.924          0.014          90             0              0
  66  Window          -3.266         1.924          0.014          90             0              0
  67  Toaster         -0.225         1.038          2.865          0              270            0
  68  GarbageCan      -3.696         0.002          2.008          0              0              0
  69  SinkBasin       -1.389         0.921          0.428          0              0              0
  70  Microwave       -0.366         1.113          0.430          0              0              0
  71  HousePlant      -2.155         1.101          0.169          0              332.897        0
  72  LightSwitch     -2.584         1.299          3.5            0              180            0
  73  Faucet          -1.393         1.373          0.168          0              270            0
  74  NorthWall
  75  SouthWall
  76  SouthWall

Plan:
STEP 1: Head to the table on the right | STEP 2: Grab the knife off of the table | STEP 3: Move slightly to the right | STEP 4: Cut the tomato on the counter into slices | STEP 5: Move slightly to the left | STEP 6: Lay the knife down on the table | STEP 7: Move slightly to the right | STEP 8: Grab one of the tomato slices | STEP 9: Turn around and head to the fridge | STEP 10: Open the right fridge door and put the tomato on the second rack. Close the door. Open the door and take the tomato out. | STEP 11: Turn around and head to the sink | STEP 12: Place the tomato in the sink | END