Task: Place 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           -0.5           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 to the right and move toward the refrigerator then turn to the left once past the counter, move toward the white range, then turn left and face the counter. | STEP 2: Pick up the knife from the counter between the spoon on the left and the loaf of bread on the right. | STEP 3: Turn left and move to the end of the counter, then turn left and move to the blue toaster between the coffee maker and the refrigerator. | STEP 4: Use the knife to slice half the tomato in front of the toaster into slices. | STEP 5: Turn left and move to the microwave to the right of the range. | STEP 6: Open the microwave door, place the knife on the plate in the microwave, then close the microwave door. | STEP 7: Turn around and move toward the refrigerator then turn left and face the sliced tomato on the counter. | STEP 8: Pick up one tomato slice from the sliced tomato on the counter. | STEP 9: Turn left and move to the microwave above the dishwasher. | STEP 10: Open the microwave door, place the tomato slice to the rear of the knife on the plate, microwave the slice, then remove the tomato slice from the microwave and then close the microwave door. | STEP 11: Turn to the right and face the sink in front of the window. | STEP 12: Place the tomato slice in front of the egg in the sink. | END