Task: Put a rinsed tomato slice on the counter in front of the right sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          1.0            0              90             0
   1  Pan             -0.244         0.829          2.075          0              180            0              48
   2  Potato          -2.810         0.960          1.337          0              90             0              72
   3  Ladle           -2.540         1.893          2.368          0              0              0              63
   4  Ladle           -2.658         0.867          0.871          0              0              0              53
   5  DishSponge      -2.491         0.823          0.055          0              0              0              53
   6  DishSponge      -2.619         1.848          1.823          0              0              0              47
   7  ButterKnife     -0.816         0.809          0.276          356.372        0              0              53
   8  Fork            -0.363         0.697          0.875          0              90             0              55
   9  Spoon           -2.496         0.693          1.474          0              90             0              58
  10  Spoon           -1.709         0.824          0.539          0              0              0              53
  11  Egg             -0.295         0.080          2.572          0              0              0              73
  12  Cup             -2.726         1.445          2.397          0              90             0              71
  13  Knife           -2.581         0.849          0.789          0              90             0              53
  14  Knife           -1.151         0.849          0.352          0              270            0              53
  15  Tomato          -2.781         0.874          1.957          0              90             0              71
  16  SoapBottle      -2.375         0.821          0.426          0              0              0              53
  17  SaltShaker      -0.169         0.818          1.214          0              0              0              53
  18  SaltShaker      -2.957         0.818          0.278          0              0              0              53
  19  PepperShaker    -2.172         0.120          0.440          0              0              0              65
  20  PepperShaker    -2.664         1.430          0.283          0              45             0              59
  21  Lettuce         -2.837         1.529          2.221          0              90             0              71
  22  Lettuce         -2.837         1.227          2.397          0              90             0              71
  23  Apple           -2.782         0.897          2.309          0              90             0              71
  24  Apple           -2.837         1.216          2.133          0              90             0              71
  25  Apple           -0.329         0.129          2.674          0              90             0              73
  26  Fork            -1.967         0.703          0.295          0              0              0              80
  27  Ladle           -2.057         0.169          0.401          0              0              0              65
  28  Pan             -0.244         0.829          1.684          0              0              0              52
  29  SoapBottle      -0.362         0.054          2.539          0              0              0              73
  30  Pot             -0.531         0.822          2.096          0              0              0              50
  31  Tomato          -2.504         0.873          0.953          0              0              0              53
  32  Potato          -2.671         0.863          2.485          0              90             0              71
  33  SaltShaker      -2.377         1.431          0.059          0              0              0              60
  34  Plate           -1.407         0.130          0.440          0              0              0              66
  35  Spatula         -0.341         0.696          1.194          0              45             0              49
  36  Knife           -2.662         0.819          0.557          90             300.034        0              53
  37  Egg             -2.671         1.167          2.221          0              90             0              71
  38  Cup             -0.169         0.823          1.103          0              0              0              53
  39  ButterKnife     -1.709         0.823          0.528          0              0              0              53
  40  Lettuce         -1.836         0.741          0.238          0              55.910         0              80
  41  PepperShaker    -2.569         0.116          1.589          0              0              0              64
  42  DishSponge      -2.724         0.823          0.055          0              0              0              53
  43  Bread           -0.978         0.855          0.250          0              30.131         0              53
  44  Spoon           -0.916         0.712          0.378          0              90             0              56
  45  Mug             -0.646         0.888          0.367          0              0              0              81
  46  Bowl            -0.397         0.115          0.914          0              0              0              69
  47  Cabinet         -2.377         2.015          1.720          0              0              0
  48  StoveBurner     -0.244         0.820          2.075          0              180            0
  49  Drawer          -0.402         0.703          1.252          0              0              0
  50  StoveBurner     -0.518         0.820          2.075          0              180            0
  51  Sink            -1.838         0.726          0.343          0              180            0
  52  StoveBurner     -0.244         0.820          1.684          0              0              0
  53  CounterTop      -1.557         0.859          0.277          0              0              0
  54  StoveBurner     -0.518         0.820          1.684          0              0              0
  55  Drawer          -0.404         0.704          0.912          0              0              0
  56  Drawer          -0.861         0.709          0.420          0              0              0
  57  Drawer          -1.133         0.706          0.418          0              0              0
  58  Drawer          -2.589         0.703          1.511          0              0              0
  59  Cabinet         -2.772         1.803          0.508          0              0              0
  60  Cabinet         -2.460         1.803          0.231          0              0              0
  61  Cabinet         -2.781         1.798          0.825          0              0              0
  62  Cabinet         -2.781         1.798          0.815          0              0              0
  63  Cabinet         -2.377         2.009          2.581          0              0              0
  64  Cabinet         -2.442         0.385          1.672          0              0              0
  65  Cabinet         -2.238         0.385          0.564          0              0              0
  66  Cabinet         -1.286         0.385          0.564          0              0              0
  67  Cabinet         -1.262         0.385          0.565          0              0              0
  68  Cabinet         -0.734         0.385          0.565          0              0              0
  69  Cabinet         -0.549         0.385          0.751          0              0              0
  70  Cabinet         -0.549         0.385          1.412          0              0              0
  71  Fridge          -2.782         0.0            2.221          0              0              0
  72  Microwave       -2.794         0.812          1.348          0              90             0
  73  GarbageCan      -0.329         2.205          2.606          0              0              0
  74  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  75  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  76  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  77  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  78  Window          -1.720         1.342          -0.208         90             0              0
  79  Toaster         -0.171         0.812          0.735          0              270            0
  80  SinkBasin       -1.745         0.687          0.295          0              0              0
  81  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  82  LightSwitch     -0.615         1.378          3.0            0              180            0
  83  Faucet          -1.686         0.954          0.176          0              236.223        0
  84  Stool           -1.008         0.008          1.955          0              18.279         0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn around and face the counter with the tomato on it. | STEP 2: Pick up the small knife with the yellow handle, closest to the tomato. | STEP 3: Slice the tomato with a knife. | STEP 4: Step forward one step, turn right for one step and turn left to face the microwave. | STEP 5: Open the microwave door, put the knife in the oven with the blade facing right, close the door. | STEP 6: Turn to the left for one step and turn right to face the tomato. | STEP 7: Pull out a slice from the middle of the tomato. | STEP 8: Turn right for one step, turn right for two steps, and turn right again to face the sink. | STEP 9: Put the tomato slice on the drain in the sink, on the left side. Leaving the faucet on the other side, turn on the water and rinse the tomato and take it out of the sink. | STEP 10: Turn right for two steps then turn left. | STEP 11: Put the tomato on the strip of counter between the right sink and the edge of the counter, over to the right side of the sink. | END