Task: Place a cooked tomato slice into 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          -1.5           0              90             0
   1  Pan             0.896          1.322          -0.942         0              270            0              43
   2  Pan             0.976          0.344          -2.164         0              180            0              42
   3  Potato          1.056          1.714          1.545          0              270            0              56
   4  WineBottle      -1.920         1.323          2.069          0              0              0              43
   5  WineBottle      -1.727         0.344          -1.863         0              0              0              39
   6  Spoon           -2.004         1.337          -1.255         0              0              0              50
   7  Spoon           0.944          1.208          1.222          0              0              0              68
   8  Pot             1.017          1.763          2.230          0              270            0              56
   9  SoapBottle      -1.634         0.280          2.193          0              270            0              58
  10  Tomato          0.818          1.558          1.848          0              270            0              56
  11  SaltShaker      1.276          1.202          1.222          0              0              0              68
  12  Bread           -1.530         1.397          1.744          0              0              0              43
  13  Bread           -1.308         1.397          -3.314         0              0              0              43
  14  Lettuce         0.277          1.399          -3.011         0              0              0              43
  15  Bread           -1.920         1.397          0.770          0              0              0              43
  16  Pot             -0.749         1.332          -2.973         0              0              0              46
  17  Knife           -1.915         1.358          -0.980         0              180            0              50
  18  Bowl            0.506          1.321          -1.683         0              0              0              43
  19  Potato          1.056          1.714          1.663          0              270            0              56
  20  SoapBottle      -1.687         0.420          -0.430         0              0              0              47
  21  Fork            0.492          1.323          -3.011         0              0              0              43
  22  Cup             -1.660         1.320          1.419          0              0              0              43
  23  Kettle          -0.125         1.332          -2.973         0              0              0              51
  24  Egg             1.193          1.248          1.238          0              0              0              68
  25  Pan             -0.239         1.331          -3.301         0              180            0              38
  26  SaltShaker      1.053          0.339          -2.267         0              180            0              42
  27  WineBottle      -1.817         0.344          0.110          0              0              0              41
  28  Lettuce         -2.049         1.399          -2.201         0              0              0              43
  29  Spatula         -1.559         1.343          -1.255         0              0              0              50
  30  PaperTowelRoll  -1.681         0.384          2.110          0              270            0              58
  31  Tomato          -1.826         1.367          -0.911         0              0              0              50
  32  Plate           -1.665         0.344          -2.262         0              0              0              39
  33  PepperShaker    0.896          1.318          -2.053         0              0              0              43
  34  DishSponge      -1.915         1.335          -1.186         0              0              0              50
  35  Spoon           -1.826         1.334          -1.255         0              0              0              50
  36  Apple           1.148          1.359          1.016          0              270            0              68
  37  Mug             0.965          1.371          -1.534         0              270            0              64
  38  StoveBurner     -0.239         1.325          -3.301         0              180            0
  39  Cabinet         -1.461         0.775          -2.002         0              0              0
  40  StoveBurner     -0.630         1.325          -3.301         0              180            0
  41  Cabinet         -1.461         0.775          0.470          0              0              0
  42  Cabinet         0.578          0.776          -2.054         0              0              0
  43  CounterTop      -1.809         1.358          1.182          0              0              0
  44  Cabinet         -1.461         0.775          1.310          0              0              0
  45  Faucet          -2.063         1.362          -0.726         0              39.391         0
  46  StoveBurner     -0.749         1.325          -2.973         0              0              0
  47  Drawer          -1.610         0.681          -0.430         0              0              0
  48  Window          -2.566         1.799          -0.822         270            0              0
  49  Drawer          -1.610         0.681          -1.217         0              0              0
  50  Sink            -1.990         1.143          -0.975         0              0              0
  51  StoveBurner     -0.125         1.325          -2.973         0              0              0
  52  StoveKnob       -0.185         1.338          -2.741         0              270            180
  53  StoveKnob       -0.336         1.338          -2.741         0              270            180
  54  StoveKnob       -0.569         1.338          -2.741         0              270            180
  55  StoveKnob       -0.707         1.338          -2.741         0              270            180
  56  Fridge          1.013          0.227          1.917          0              270            0
  57  Microwave       0.994          1.310          -2.163         0              270            0
  58  GarbageCan      -1.633         0.212          2.192          0              270            0
  59  LightSwitch     1.386          1.565          -0.657         0              270            0
  60  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  61  SinkBasin       -1.835         1.039          -0.542         0              0              0
  62  ButterKnife     0.873          0.468          0.651          0              0              0
  63  Toaster         -1.885         1.310          -2.512         0              90             0
  64  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  65  Drawer          0.647          1.061          0.680          0              270            0
  66  Drawer          0.648          1.061          1.020          0              270            0
  67  Drawer          0.648          0.843          1.020          0              270            0
  68  SideTable       0.975          0.220          0.869          0              270            0
  69  Drawer          0.648          0.602          0.680          0              270            0
  70  Drawer          0.648          0.596          1.020          0              270            0
  71  Drawer          0.648          0.843          0.680          0              270            0
  72  Stool           0.606          0.222          -1.084         1.233          280.489        0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: Turn 180 degrees, move towards and face the covered area of sink. | STEP 2: Pick up the knife left of the tomato. | STEP 3: Slice the tomato next to the sink. | STEP 4: Turn right, move forward a bit and face the area of the sink with the drain in view. | STEP 5: Place the knife in the sink. | STEP 6: Turn left, move forward a bit and then face the covered area of the sink. | STEP 7: Pick up one tomato slice from the area next to the open sink. | STEP 8: Turn right, move towards the green recycling bin, then turn right and move towards and face the microwave. | STEP 9: Open the microwave and place the tomato slice on the plate next to the apple. Close the microwave and turn it on. Open the microwave and remove the cooked tomato slice from the plate. Close the microwave. | STEP 10: Turn right and move towards the stool. Turn right after the stool and face the sink. | STEP 11: Place the cooked tomato slice into the sink next to the left of the knife. | END