Task: Put a cooked 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           -0.75          1.124          0.75           0              0              0
   1  Pan             1.155          1.322          -2.053         0              0              0              52
   2  Potato          -1.363         1.362          -0.098         0              0              0              52
   3  DishSponge      -1.614         0.343          1.420          0              0              0              53
   4  DishSponge      -1.817         0.343          0.613          0              0              0              50
   5  WineBottle      1.285          1.323          -2.794         0              0              0              52
   6  Fork            0.939          0.954          1.019          0              0              0              75
   7  Spoon           -2.049         1.324          -2.461         0              0              0              52
   8  Spatula         0.563          1.337          -3.232         0              0              0              52
   9  Pot             -0.630         1.331          -3.301         0              180            0              49
  10  Cup             1.017          1.672          1.545          0              270            0              65
  11  Plate           -1.826         1.333          -1.049         0              0              0              59
  12  Plate           0.824          0.345          -1.854         0              180            0              51
  13  SoapBottle      -1.530         1.323          -3.241         0              0              0              52
  14  SoapBottle      -2.049         1.323          -2.201         0              0              0              52
  15  Tomato          -1.954         1.084          -0.633         0              0              0              70
  16  Tomato          1.095          1.791          2.289          0              270            0              65
  17  Bowl            -1.614         0.342          1.007          0              0              0              53
  18  SaltShaker      0.563          1.318          -3.343         0              0              0              52
  19  SaltShaker      -2.049         1.318          -2.721         0              0              0              52
  20  PepperShaker    -1.665         0.338          -1.763         0              0              0              48
  21  Lettuce         -2.049         1.399          -3.241         0              0              0              52
  22  Mug             -2.004         1.331          -1.255         0              0              0              59
  23  Apple           0.977          1.806          2.053          0              270            0              65
  24  Bread           0.349          1.397          -2.900         0              0              0              52
  25  Pot             -0.749         1.332          -2.973         0              0              0              55
  26  Knife           -1.648         1.358          -1.049         0              90             0              59
  27  Bowl            1.056          1.673          1.781          0              270            0              65
  28  Potato          -1.380         1.362          -2.981         0              0              0              52
  29  SoapBottle      -1.954         0.344          1.523          0              0              0              53
  30  Fork            -1.790         1.323          1.094          0              0              0              52
  31  Cup             0.778          1.205          1.238          0              0              0              77
  32  Kettle          -1.886         0.344          1.213          0              0              0              53
  33  Egg             1.017          1.798          2.230          0              270            0              65
  34  Pan             0.970          1.524          1.724          0              0              0              65
  35  SaltShaker      1.193          1.202          1.222          0              0              0              77
  36  WineBottle      0.420          1.323          -3.121         0              0              0              52
  37  Lettuce         -1.920         1.399          -2.721         0              0              0              52
  38  Spatula         -1.401         1.337          1.744          0              0              0              52
  39  PaperTowelRoll  -1.327         1.427          -1.035         0              0              0              52
  40  Tomato          -1.586         0.314          2.234          0              270            0              67
  41  Plate           1.053          0.345          -2.267         0              180            0              51
  42  PepperShaker    -1.237         1.318          -3.425         0              0              0              52
  43  DishSponge      -1.634         0.279          2.110          0              270            0              67
  44  Spoon           -1.762         1.052          -0.542         0              180            0              70
  45  Apple           1.213          1.359          0.913          0              270            0              77
  46  Mug             0.766          1.318          -2.053         0              0              0              66
  47  StoveBurner     -0.239         1.325          -3.301         0              180            0
  48  Cabinet         -1.461         0.775          -2.002         0              0              0
  49  StoveBurner     -0.630         1.325          -3.301         0              180            0
  50  Cabinet         -1.461         0.775          0.470          0              0              0
  51  Cabinet         0.578          0.776          -2.054         0              0              0
  52  CounterTop      -1.809         1.358          1.182          0              0              0
  53  Cabinet         -1.461         0.775          1.310          0              0              0
  54  Faucet          -2.063         1.362          -0.726         0              39.391         0
  55  StoveBurner     -0.749         1.325          -2.973         0              0              0
  56  Drawer          -1.610         0.681          -0.430         0              0              0
  57  Window          -2.566         1.799          -0.822         270            0              0
  58  Drawer          -1.610         0.681          -1.217         0              0              0
  59  Sink            -1.990         1.143          -0.975         0              0              0
  60  StoveBurner     -0.125         1.325          -2.973         0              0              0
  61  StoveKnob       -0.185         1.338          -2.741         0              270            180
  62  StoveKnob       -0.336         1.338          -2.741         0              270            180
  63  StoveKnob       -0.569         1.338          -2.741         0              270            180
  64  StoveKnob       -0.707         1.338          -2.741         0              270            180
  65  Fridge          1.013          0.227          1.917          0              270            0
  66  Microwave       0.994          1.310          -2.163         0              270            0
  67  GarbageCan      -1.633         0.212          2.192          0              270            0
  68  LightSwitch     1.386          1.565          -0.657         0              270            0
  69  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  70  SinkBasin       -1.835         1.039          -0.542         0              0              0
  71  ButterKnife     0.873          0.468          0.651          0              0              0
  72  Toaster         -1.885         1.310          -2.512         0              90             0
  73  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  74  Drawer          0.647          1.061          0.680          0              270            0
  75  Drawer          0.648          1.061          1.020          0              270            0
  76  Drawer          0.648          0.843          1.020          0              270            0
  77  SideTable       0.975          0.220          0.869          0              270            0
  78  Drawer          0.648          0.602          0.680          0              270            0
  79  Drawer          0.648          0.596          1.020          0              270            0
  80  Drawer          0.648          0.843          0.680          0              270            0
  81  Stool           0.606          0.222          -1.084         1.233          280.489        0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn around, then turn right at the left side of the sink. | STEP 2: Pick up the knife in front of the plate. | STEP 3: Turn right, then turn left to face the sink basin. | STEP 4: Slice the tomato in the sink. | STEP 5: Put the knife in the sink. | STEP 6: Take a tomato slice from the sink. | STEP 7: Turn right, go straight, then turn right to approach the microwave. | STEP 8: Cook the tomato slice in the microwave. | STEP 9: Go right, then turn right to return to the sink basin. | STEP 10: Put the tomato slice in the sink basin, in front of the tomato. | END