Task: Transfer a tomato slice cooked in the microwave to 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          -0.25          0              270            0
   1  Pan             -1.660         1.322          -3.241         0              180            0              47
   2  WineBottle      -1.401         1.323          -2.721         0              0              0              47
   3  WineBottle      -1.660         1.323          -1.941         0              0              0              47
   4  Kettle          -0.630         1.331          -3.301         0              180            0              44
   5  Fork            -2.004         1.337          -1.255         0              0              0              54
   6  Fork            -1.401         1.323          -2.461         0              0              0              47
   7  Spoon           -2.049         1.324          -2.201         0              0              0              47
   8  Spoon           -1.915         1.336          -1.049         0              0              0              54
   9  Egg             0.778          1.248          1.238          0              0              0              72
  10  Plate           -2.049         1.323          1.419          0              0              0              47
  11  Knife           -1.915         1.358          -0.911         0              180            0              54
  12  SoapBottle      -1.817         0.344          0.713          0              0              0              45
  13  SoapBottle      -1.886         0.344          1.317          0              0              0              48
  14  SaltShaker      1.027          1.202          1.222          0              0              0              72
  15  SaltShaker      -1.954         0.338          1.213          0              0              0              48
  16  Lettuce         0.506          1.399          -3.164         0              0              0              47
  17  Mug             -1.790         1.318          2.069          0              0              0              47
  18  Mug             1.021          1.519          1.848          0              270            0              60
  19  Bread           0.634          1.397          -2.900         0              0              0              47
  20  Pot             -2.049         1.329          -2.981         0              0              0              47
  21  Knife           -1.380         1.352          -3.314         0              0              0              47
  22  Bowl            1.017          1.755          2.112          0              270            0              60
  23  Potato          1.017          1.714          1.722          0              270            0              60
  24  SoapBottle      -1.610         0.280          2.110          0              270            0              62
  25  Fork            -1.826         1.064          -0.542         0              0              0              65
  26  Cup             -1.094         1.320          -2.870         0              0              0              47
  27  Kettle          -2.049         1.324          1.744          0              0              0              47
  28  Egg             -1.634         0.321          2.193          0              270            0              62
  29  Pan             -1.881         0.327          -2.035         0              0              0              43
  30  SaltShaker      -2.049         1.318          0.770          0              0              0              47
  31  WineBottle      0.896          1.323          -2.053         0              0              0              47
  32  Lettuce         -1.790         1.399          1.419          0              0              0              47
  33  Spatula         -1.308         1.337          -2.981         0              0              0              47
  34  PaperTowelRoll  0.636          1.427          -2.794         0              0              0              47
  35  Tomato          0.506          1.356          -0.942         0              0              0              47
  36  Plate           1.053          0.345          -2.267         0              180            0              46
  37  PepperShaker    0.206          1.318          -2.678         0              0              0              47
  38  DishSponge      -2.179         1.322          -2.721         0              0              0              47
  39  Spoon           0.900          0.461          0.983          0              90             0              74
  40  Apple           1.115          1.359          1.016          0              270            0              72
  41  Mug             -1.884         0.338          0.412          0              0              0              45
  42  StoveBurner     -0.239         1.325          -3.301         0              180            0
  43  Cabinet         -1.461         0.775          -2.002         0              0              0
  44  StoveBurner     -0.630         1.325          -3.301         0              180            0
  45  Cabinet         -1.461         0.775          0.470          0              0              0
  46  Cabinet         0.578          0.776          -2.054         0              0              0
  47  CounterTop      -1.809         1.358          1.182          0              0              0
  48  Cabinet         -1.461         0.775          1.310          0              0              0
  49  Faucet          -2.063         1.362          -0.726         0              39.391         0
  50  StoveBurner     -0.749         1.325          -2.973         0              0              0
  51  Drawer          -1.610         0.681          -0.430         0              0              0
  52  Window          -2.566         1.799          -0.822         270            0              0
  53  Drawer          -1.610         0.681          -1.217         0              0              0
  54  Sink            -1.990         1.143          -0.975         0              0              0
  55  StoveBurner     -0.125         1.325          -2.973         0              0              0
  56  StoveKnob       -0.185         1.338          -2.741         0              270            180
  57  StoveKnob       -0.336         1.338          -2.741         0              270            180
  58  StoveKnob       -0.569         1.338          -2.741         0              270            180
  59  StoveKnob       -0.707         1.338          -2.741         0              270            180
  60  Fridge          1.013          0.227          1.917          0              270            0
  61  Microwave       0.994          1.310          -2.163         0              270            0
  62  GarbageCan      -1.633         0.212          2.192          0              270            0
  63  LightSwitch     1.386          1.565          -0.657         0              270            0
  64  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  65  SinkBasin       -1.835         1.039          -0.542         0              0              0
  66  ButterKnife     0.873          0.468          0.651          0              0              0
  67  Toaster         -1.885         1.310          -2.512         0              90             0
  68  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  69  Drawer          0.647          1.061          0.680          0              270            0
  70  Drawer          0.648          1.061          1.020          0              270            0
  71  Drawer          0.648          0.843          1.020          0              270            0
  72  SideTable       0.975          0.220          0.869          0              270            0
  73  Drawer          0.648          0.602          0.680          0              270            0
  74  Drawer          0.648          0.596          1.020          0              270            0
  75  Drawer          0.648          0.843          0.680          0              270            0
  76  Stool           0.606          0.222          -1.084         1.233          280.489        0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn right, walk forward a step, and turn left to face the counter. | STEP 2: Pick up the knife next to the spoon. | STEP 3: Turn right, turn right again and walk forward to the table. | STEP 4: Slice the tomato on the table. | STEP 5: Turn right, turn right again and walk to the sink. | STEP 6: Place the knife in the sink next to the fork. | STEP 7: Turn left, turn left again and move to the table. | STEP 8: Pick up a tomato slice from the table. | STEP 9: Turn left, walk forward and turn left to face the microwave. | STEP 10: Open the microwave door, place the tomato slice next to the apple, close the door, heat up the tomato for seven seconds, open the door and remove the tomato slice. | STEP 11: Turn right, walk to the table, turn right and move to the sink. | STEP 12: Place the tomato slice next to the knife in the sink. | END