Task: Put a sliced tomato 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           -2.0           0.900          2.5            0              90             0
   1  Potato          -0.362         0.095          2.606          0              0              0              63
   2  DishSponge      -1.857         0.697          0.210          0              0              0              70
   3  DishSponge      -0.832         0.709          0.411          0              0              0              46
   4  Fork            -1.967         0.703          0.295          0              0              0              70
   5  Spoon           -1.105         0.699          0.444          0              270            0              47
   6  Spoon           -2.375         0.824          0.500          0              0              0              43
   7  Spatula         -2.491         0.838          0.278          0              180            0              43
   8  Cup             -2.882         1.434          0.941          0              0              0              51
   9  Knife           -2.044         0.849          0.539          0              0              0              43
  10  Bowl            -2.540         1.845          2.368          0              0              0              53
  11  Bowl            -2.810         0.918          1.337          0              90             0              62
  12  SaltShaker      -2.377         1.431          0.169          0              0              0              50
  13  Mug             -2.782         1.440          2.397          0              90             0              61
  14  Apple           -0.477         0.896          1.326          0              0              0              43
  15  Apple           -2.504         0.896          0.789          0              0              0              43
  16  Fork            -0.296         0.697          0.875          0              90             0              45
  17  Ladle           -2.540         1.893          1.875          0              0              0              37
  18  Pan             -0.244         0.829          1.684          0              0              0              42
  19  SoapBottle      -2.812         1.432          0.265          0              45             0              49
  20  Pot             -0.531         0.822          2.096          0              0              0              40
  21  Tomato          -2.504         0.873          0.953          0              0              0              43
  22  Potato          -0.262         0.095          2.606          0              0              0              63
  23  SaltShaker      -1.637         0.120          0.284          0              0              0              56
  24  Plate           -2.569         0.126          1.550          0              0              0              54
  25  Spatula         -0.341         0.696          1.194          0              45             0              39
  26  Knife           -2.375         0.849          0.129          0              90             0              43
  27  Egg             -0.323         0.847          1.214          0              0              0              43
  28  Cup             -2.671         1.445          1.957          0              90             0              61
  29  ButterKnife     -2.493         0.812          0.476          0              50.734         0              43
  30  Lettuce         -2.781         0.908          2.133          0              90             0              61
  31  PepperShaker    -2.905         1.430          0.640          0              0              0              52
  32  DishSponge      -0.147         0.823          0.426          0              0              0              43
  33  Bread           -0.979         0.855          0.249          0              29.999         0              43
  34  Spoon           -0.400         0.824          0.881          0              270            0              43
  35  Mug             -0.646         0.888          0.367          0              0              0              71
  36  Bowl            -1.580         0.121          0.440          0              90             0              56
  37  Cabinet         -2.377         2.015          1.720          0              0              0
  38  StoveBurner     -0.244         0.820          2.075          0              180            0
  39  Drawer          -0.402         0.703          1.252          0              0              0
  40  StoveBurner     -0.518         0.820          2.075          0              180            0
  41  Sink            -1.838         0.726          0.343          0              180            0
  42  StoveBurner     -0.244         0.820          1.684          0              0              0
  43  CounterTop      -1.557         0.859          0.277          0              0              0
  44  StoveBurner     -0.518         0.820          1.684          0              0              0
  45  Drawer          -0.404         0.704          0.912          0              0              0
  46  Drawer          -0.861         0.709          0.420          0              0              0
  47  Drawer          -1.133         0.706          0.418          0              0              0
  48  Drawer          -2.589         0.703          1.511          0              0              0
  49  Cabinet         -2.772         1.803          0.508          0              0              0
  50  Cabinet         -2.460         1.803          0.231          0              0              0
  51  Cabinet         -2.781         1.798          0.825          0              0              0
  52  Cabinet         -2.781         1.798          0.815          0              0              0
  53  Cabinet         -2.377         2.009          2.581          0              0              0
  54  Cabinet         -2.442         0.385          1.672          0              0              0
  55  Cabinet         -2.238         0.385          0.564          0              0              0
  56  Cabinet         -1.286         0.385          0.564          0              0              0
  57  Cabinet         -1.262         0.385          0.565          0              0              0
  58  Cabinet         -0.734         0.385          0.565          0              0              0
  59  Cabinet         -0.549         0.385          0.751          0              0              0
  60  Cabinet         -0.549         0.385          1.412          0              0              0
  61  Fridge          -2.782         0.0            2.221          0              0              0
  62  Microwave       -2.794         0.812          1.348          0              90             0
  63  GarbageCan      -0.329         2.205          2.606          0              0              0
  64  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  65  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  66  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  67  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  68  Window          -1.720         1.342          -0.208         90             0              0
  69  Toaster         -0.171         0.812          0.735          0              270            0
  70  SinkBasin       -1.745         0.687          0.295          0              0              0
  71  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  72  LightSwitch     -0.615         1.378          3.0            0              180            0
  73  Faucet          -1.686         0.954          0.176          0              236.223        0
  74  Stool           -1.008         0.008          1.955          0              18.279         0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: Turn right around and move towards the sink. | STEP 2: Pick up the knife at the edge of the sink. | STEP 3: Turn right and face the tomato on the cabinet. | STEP 4: Slice the the tomato on the cabinet. | STEP 5: Turn right around and face the sink. | STEP 6: Put the knife on the edge of the sink. | STEP 7: Turn right and move to the sliced tomato. | STEP 8: pick a slice of tomato from the cabinet. | STEP 9: Turn right and head towards the refrigerator on your left. | STEP 10: Open the refrigerator and put the sliced tomato in it and close it, then open the refrigerator and pick up the tomato | STEP 11: Turn left and head towards the sink. | STEP 12: Put the sliced tomato on the edge of the sink. | END