Task: Put a cooked slice of 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           0.25           0.900          0.0            0              180            0
   1  Potato          1.239          0.800          -1.654         0              0              0              55
   2  Potato          1.77           0.110          1.588          0              270            0              54
   3  DishSponge      1.097          0.910          -1.247         0              90             0              40
   4  Spoon           1.656          0.912          -1.631         0              270            0              40
   5  Cup             1.762          0.908          0.467          0              90             0              36
   6  Plate           1.805          1.634          -1.046         0              0              0              48
   7  SoapBottle      1.878          2.134          1.121          0              0              0              43
   8  SaltShaker      1.865          0.906          -1.460         0              90             0              40
   9  SaltShaker      1.529          0.905          0.518          0              90             0              36
  10  Lettuce         1.656          1.011          -1.374         0              90             0              40
  11  Mug             0.502          0.940          -1.460         0              0              0              62
  12  Apple           1.917          0.967          0.570          0              90             0              36
  13  Apple           -0.692         0.807          -1.594         0              0              0              63
  14  Plate           1.802          1.647          -0.000         0              0              0              46
  15  SoapBottle      1.805          1.643          -1.724         0              0              0              50
  16  Cup             0.356          0.909          -1.263         0              90             0              40
  17  Egg             1.516          0.946          -1.460         0              90             0              40
  18  Fork            0.220          0.911          1.004          0              90             0              36
  19  Ladle           0.220          0.954          1.004          0              90             0              36
  20  Apple           0.963          0.817          -1.710         0              0              0              55
  21  SaltShaker      1.844          1.634          0.599          0              0              0              45
  22  Pan             1.807          0.909          -0.320         0              180            0              38
  23  Tomato          1.739          0.134          1.731          0              270            0              54
  24  Spatula         1.796          0.926          -1.460         0              270            0              40
  25  Potato          0.220          0.950          0.739          0              90             0              36
  26  Knife           1.586          0.943          -1.717         0              180            0              40
  27  ButterKnife     0.989          0.910          0.827          0              90             0              36
  28  Bread           1.615          0.977          0.761          0              50.525         0              36
  29  Lettuce         0.856          0.989          1.120          0              270            1.590          36
  30  PepperShaker    1.451          0.905          0.467          0              180            0              36
  31  Pot             1.534          0.908          0.058          0              195.000        0              42
  32  DishSponge      1.757          0.910          1.092          0              90             0              36
  33  Spoon           1.656          0.912          -1.460         0              90             0              40
  34  Bowl            -0.741         1.387          -1.594         0              0              0              63
  35  Mug             -0.838         0.741          -1.559         0              0              0              63
  36  CounterTop      0.989          0.946          1.016          0              90             0
  37  StoveBurner     1.807          0.907          0.075          0              180            0
  38  StoveBurner     1.807          0.907          -0.320         0              180            0
  39  StoveBurner     1.543          0.907          -0.320         0              90             0
  40  CounterTop      0.989          0.946          -1.516         0              90             0
  41  Sink            1.100          0.906          -1.599         0              0              0
  42  StoveBurner     1.548          0.907          0.075          0              180            0
  43  Cabinet         1.658          2.299          1.313          0              0              0
  44  Cabinet         1.658          2.299          0.686          0              0              0
  45  Cabinet         1.658          2.049          0.673          0              0              0
  46  Cabinet         1.658          2.059          0.193          0              0              0
  47  Cabinet         1.658          2.059          -0.593         0              0              0
  48  Cabinet         1.658          2.049          -0.606         0              0              0
  49  Cabinet         1.658          2.049          -1.206         0              0              0
  50  Cabinet         1.658          2.049          -1.893         0              0              0
  51  Toaster         0.131          0.900          -1.589         0              0              0
  52  Window          -0.372         1.588          3.349          90             0              0
  53  Window          0.782          1.741          -1.893         90             0              0
  54  GarbageCan      1.770          -0.029         1.685          0              270            0
  55  SinkBasin       1.091          0.740          -1.599         0              0              0
  56  StoveKnob       1.364          0.821          0.086          48.421         270            0
  57  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  58  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  59  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  60  Microwave       1.752          0.900          -0.843         0              270            0
  61  LightSwitch     2.0            1.261          3.094          0              270            0
  62  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  63  Fridge          -0.533         0.0            -1.554         0              0              0
  64  Chair           1.068          0.000          1.752          0              191.622        0
  65  Faucet          1.110          1.138          -1.764         0              270            0
  66  Chair           0.357          0.000          1.710          0              178.899        0
  67  NorthWall
  68  EastWall
  69  SouthWall
  70  WestWall

Plan:
STEP 1: Go straight and to the left to the sink. | STEP 2: Take the knife on the counter to the left of the sink. | STEP 3: Turn around, bear left and go around the counter towards the window, turn right, go to the door, turn right and face the black bin. | STEP 4: Cut the tomato in the bin into slices. | STEP 5: Turn right, go straight then around the counter bearing left, keep bearing left to the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Turn around, bear right around the counter towards the window, turn right, go to the door, turn right and face the black bin. | STEP 8: Take a slice of tomato from the bin. | STEP 9: Turn right, go straight then around the counter bearing left, keep bearing left to the microwave. | STEP 10: Cook the tomato in the microwave, take the tomato from the microwave. | STEP 11: Turn right to the sink. | STEP 12: Put the tomato in the sink.  | END