Task: Put a cooked slice of tomato in a sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          2.5            0              90             0
   1  ButterKnife     1.501          0.910          0.915          0              90             0              33
   2  Fork            0.476          0.911          1.180          0              90             0              33
   3  Fork            1.757          0.901          0.915          1.090          90             0              33
   4  Spoon           1.796          0.912          -1.545         0              90             0              37
   5  Spatula         0.220          0.925          1.004          0              180            0              33
   6  PepperShaker    1.840          1.640          -1.847         0              0              0              47
   7  PepperShaker    1.935          0.906          -1.717         0              90             0              37
   8  Mug             0.502          0.940          -1.460         0              0              0              59
   9  Apple           1.726          0.968          -1.374         0              90             0              37
  10  Apple           1.800          0.127          1.684          0              270            0              51
  11  Plate           -0.692         0.752          -1.594         0              0              0              60
  12  SoapBottle      1.734          1.643          -1.724         0              0              0              47
  13  Cup             -0.692         1.387          -1.629         0              0              0              60
  14  Egg             1.032          0.795          -1.654         0              0              0              52
  15  Fork            0.476          0.911          0.739          0              180            0              33
  16  Ladle           1.656          0.955          -1.802         0              180            0              37
  17  Apple           -0.295         1.116          -1.357         0              0              0              60
  18  SaltShaker      1.875          1.640          -1.643         0              0              0              47
  19  Pan             1.543          0.909          -0.320         0              90             0              36
  20  Tomato          0.258          0.975          -1.263         0              90             0              37
  21  Spatula         1.607          0.907          0.570          0              270            0              33
  22  Potato          -0.741         0.500          -1.476         0              0              0              60
  23  Knife           1.762          0.943          0.467          0              180            0              33
  24  ButterKnife     1.451          0.910          0.518          0              90             0              33
  25  Bread           1.614          0.977          0.761          0              50.526         0              33
  26  Lettuce         0.856          0.989          1.120          0              270            1.529          33
  27  PepperShaker    1.529          0.905          0.570          0              90             0              33
  28  Pot             1.548          0.909          0.075          0              180            0              39
  29  DishSponge      1.529          0.910          0.311          0              90             0              33
  30  Spoon           1.245          0.911          0.915          0              90             0              33
  31  Bowl            0.193          0.900          1.170          0              0              0              33
  32  Mug             1.877          1.630          -1.297         0              0              0              46
  33  CounterTop      0.989          0.946          1.016          0              90             0
  34  StoveBurner     1.807          0.907          0.075          0              180            0
  35  StoveBurner     1.807          0.907          -0.320         0              180            0
  36  StoveBurner     1.543          0.907          -0.320         0              90             0
  37  CounterTop      0.989          0.946          -1.516         0              90             0
  38  Sink            1.100          0.906          -1.599         0              0              0
  39  StoveBurner     1.548          0.907          0.075          0              180            0
  40  Cabinet         1.658          2.299          1.313          0              0              0
  41  Cabinet         1.658          2.299          0.686          0              0              0
  42  Cabinet         1.658          2.049          0.673          0              0              0
  43  Cabinet         1.658          2.059          0.193          0              0              0
  44  Cabinet         1.658          2.059          -0.593         0              0              0
  45  Cabinet         1.658          2.049          -0.606         0              0              0
  46  Cabinet         1.658          2.049          -1.206         0              0              0
  47  Cabinet         1.658          2.049          -1.893         0              0              0
  48  Toaster         0.131          0.900          -1.589         0              0              0
  49  Window          -0.372         1.588          3.349          90             0              0
  50  Window          0.782          1.741          -1.893         90             0              0
  51  GarbageCan      1.770          -0.029         1.685          0              270            0
  52  SinkBasin       1.091          0.740          -1.599         0              0              0
  53  StoveKnob       1.364          0.821          0.086          48.421         270            0
  54  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  55  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  56  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  57  Microwave       1.752          0.900          -0.843         0              270            0
  58  LightSwitch     2.0            1.261          3.094          0              270            0
  59  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  60  Fridge          -0.533         0.0            -1.554         0              0              0
  61  Chair           1.068          0.000          1.752          0              191.622        0
  62  Faucet          1.110          1.138          -1.764         0              270            0
  63  Chair           0.357          0.000          1.710          0              178.899        0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Turn right, go past the counter, turn left, go to the counter to the left of the oven, turn left to face the counter. | STEP 2: Take the knife from the counter on the right. | STEP 3: Turn left, walk to the end of the counter, turn left, go to the counter to the right of the sink. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Turn left, go to the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Turn around, go back to the counter with the tomato on the left. | STEP 8: Take a slice of tomato from the counter. | STEP 9: Turn left, go to the microwave. | STEP 10: Cook the tomato in the microwave, take the tomato from the microwave. | STEP 11: Turn right to face the sink. | STEP 12: Put the tomato in the sink. | END