Task: To cool a tomato slice plus place it on the edge of 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           -1.0           0.900          2.5            0              270            0
   1  Pan             -0.244         0.829          1.684          0              0              0              45
   2  Potato          -2.726         1.484          2.485          0              90             0              64
   3  DishSponge      -2.581         0.823          0.789          0              0              0              46
   4  DishSponge      -2.501         1.848          2.420          0              0              0              56
   5  ButterKnife     -0.147         0.823          0.426          0              0              0              46
   6  Pot             -2.726         0.823          2.045          0              180            0              64
   7  Fork            -2.496         0.692          1.547          0              270            0              51
   8  Spoon           -1.049         0.699          0.377          0              90             0              50
   9  Spoon           -0.246         0.824          1.103          0              180            0              46
  10  Egg             -0.429         0.080          2.674          0              0              0              66
  11  Cup             -2.892         1.445          1.957          0              90             0              64
  12  Cup             -2.671         1.144          1.957          0              90             0              64
  13  Knife           -2.044         0.849          0.508          0              0              0              46
  14  SoapBottle      -1.580         0.123          0.479          0              0              0              59
  15  SaltShaker      -2.504         0.818          0.544          0              0              0              46
  16  SaltShaker      -2.258         0.818          0.500          0              0              0              46
  17  Apple           -2.735         0.896          0.953          0              0              0              46
  18  Apple           -0.477         0.896          1.326          0              0              0              46
  19  Fork            -2.597         0.692          1.474          0              90             0              51
  20  Ladle           -2.540         1.893          1.978          0              0              0              40
  21  Pan             -0.244         0.829          2.075          0              180            0              41
  22  SoapBottle      -0.329         0.054          2.539          0              0              0              66
  23  Pot             -0.531         0.822          2.096          0              0              0              43
  24  Tomato          -2.581         0.873          0.953          0              0              0              46
  25  Potato          -2.810         0.960          1.125          0              0              0              65
  26  SaltShaker      -2.358         1.431          0.169          0              0              0              53
  27  Plate           -2.057         0.130          0.401          0              0              0              58
  28  Spatula         -0.341         0.696          1.194          0              45             0              42
  29  Knife           -1.151         0.849          0.129          0              90             0              46
  30  Egg             -0.262         0.080          2.708          0              0              0              66
  31  Cup             -2.844         0.921          1.337          0              90             0              65
  32  ButterKnife     -1.876         0.823          0.528          0              0              0              46
  33  Lettuce         -2.837         0.908          2.309          0              90             0              64
  34  PepperShaker    -2.258         0.818          0.129          0              0              0              46
  35  DishSponge      -0.169         0.823          0.992          0              0              0              46
  36  Bread           -0.979         0.855          0.249          0              29.999         0              46
  37  Spoon           -0.860         0.711          0.378          0              90             0              49
  38  Mug             -0.646         0.888          0.367          0              0              0              74
  39  Bowl            -2.648         0.118          1.510          0              0              0              57
  40  Cabinet         -2.377         2.015          1.720          0              0              0
  41  StoveBurner     -0.244         0.820          2.075          0              180            0
  42  Drawer          -0.402         0.703          1.252          0              0              0
  43  StoveBurner     -0.518         0.820          2.075          0              180            0
  44  Sink            -1.838         0.726          0.343          0              180            0
  45  StoveBurner     -0.244         0.820          1.684          0              0              0
  46  CounterTop      -1.557         0.859          0.277          0              0              0
  47  StoveBurner     -0.518         0.820          1.684          0              0              0
  48  Drawer          -0.404         0.704          0.912          0              0              0
  49  Drawer          -0.861         0.709          0.420          0              0              0
  50  Drawer          -1.133         0.706          0.418          0              0              0
  51  Drawer          -2.589         0.703          1.511          0              0              0
  52  Cabinet         -2.772         1.803          0.508          0              0              0
  53  Cabinet         -2.460         1.803          0.231          0              0              0
  54  Cabinet         -2.781         1.798          0.825          0              0              0
  55  Cabinet         -2.781         1.798          0.815          0              0              0
  56  Cabinet         -2.377         2.009          2.581          0              0              0
  57  Cabinet         -2.442         0.385          1.672          0              0              0
  58  Cabinet         -2.238         0.385          0.564          0              0              0
  59  Cabinet         -1.286         0.385          0.564          0              0              0
  60  Cabinet         -1.262         0.385          0.565          0              0              0
  61  Cabinet         -0.734         0.385          0.565          0              0              0
  62  Cabinet         -0.549         0.385          0.751          0              0              0
  63  Cabinet         -0.549         0.385          1.412          0              0              0
  64  Fridge          -2.782         0.0            2.221          0              0              0
  65  Microwave       -2.794         0.812          1.348          0              90             0
  66  GarbageCan      -0.329         2.205          2.606          0              0              0
  67  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  68  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  69  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  70  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  71  Window          -1.720         1.342          -0.208         90             0              0
  72  Toaster         -0.171         0.812          0.735          0              270            0
  73  SinkBasin       -1.745         0.687          0.295          0              0              0
  74  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  75  LightSwitch     -0.615         1.378          3.0            0              180            0
  76  Faucet          -1.686         0.954          0.176          0              236.223        0
  77  Stool           -1.008         0.008          1.955          0              18.279         0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn left and cross the room to face the sink. | STEP 2: Pick up the silver knife on the edge of the sink. | STEP 3: Turn right to face the tomato on the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Turn left to face the sink. | STEP 6: Place the silver knife on the edge of the sink. | STEP 7: Turn right to face the tomato on the counter. | STEP 8: Pick up a slice of tomato on the counter. | STEP 9: Step right to face the fridge. | STEP 10: Cool the tomato slice in the fridge and remove it. | STEP 11: Turn left and step forward to face the sink. | STEP 12: Place the tomato slice on the edge of the sink. | END