Task: To clean a slice of tomato and place it in the trash can.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.900          -1.25          0              90             0
   1  Pan             -1.081         0.949          -1.81          0              0              0              68
   2  SprayBottle     1.342          1.655          -0.736         0              0              0              60
   3  SprayBottle     1.420          0.213          1.08           0              0              0              89
   4  Pen             1.003          0.777          -0.699         0              0              0              63
   5  Potato          1.356          1.762          1.650          0              270            0              91
   6  Ladle           -2.323         0.954          0.377          0              0              0              74
   7  Ladle           -1.835         0.954          0.549          0              0              0              74
   8  Kettle          -1.431         0.949          -1.525         0              0              0              80
   9  DishSponge      -1.732         0.910          -1.620         0              0              0              70
  10  DishSponge      1.150          0.117          0.547          0              0              0              55
  11  Glassbottle     1.275          1.368          1.976          0              270            0              91
  12  Spoon           -2.201         0.911          0.118          0              0              0              74
  13  Spoon           0.758          0.912          -1.619         0              0              0              76
  14  Spatula         1.426          0.926          0.031          0              0              0              72
  15  Cup             1.034          0.118          0.372          0              0              0              55
  16  Knife           1.260          0.941          -0.990         0              0              0              72
  17  Knife           1.002          0.804          0.377          0              90             0              49
  18  Tomato          1.335          1.202          -1.345         0              0              0              78
  19  Tomato          1.275          1.407          2.351          0              270            0              91
  20  SaltShaker      0.199          0.906          -1.423         0              0              0              51
  21  SaltShaker      -1.353         1.853          -1.838         0              0              0              65
  22  Mug             1.388          1.715          2.026          0              270            0              91
  23  Tomato          -2.079         0.950          0.463          0              0              0              74
  24  Glassbottle     1.302          0.215          1.022          0              0              0              89
  25  Knife           -1.886         0.940          -1.879         0              90             0              70
  26  Plate           0.121          1.656          -1.839         0              0              0              62
  27  Fork            -2.323         0.911          0.291          0              0              0              74
  28  Ladle           -1.810         1.700          -1.926         0              90             0              53
  29  Potato          1.441          1.307          0.188          0              270            0              94
  30  Lettuce         0.664          0.980          -1.789         0              0              0              72
  31  Kettle          -0.458         1.656          -1.801         0              0              0              54
  32  Pen             -2.103         0.777          -1.532         0              0              0              67
  33  SaltShaker      -1.125         1.845          -1.802         0              0              0              52
  34  Cup             -1.809         0.910          -1.534         0              0              0              70
  35  Egg             1.485          1.749          1.713          0              270            0              91
  36  Spatula         -1.712         0.925          0.377          0              0              0              74
  37  Bowl            -2.107         0.112          -1.535         0              0              0              75
  38  SprayBottle     -1.957         0.909          0.032          0              0              0              74
  39  Pan             -1.957         0.910          0.204          0              0              0              74
  40  SoapBottle      -0.751         0.111          -1.681         0              90             0              59
  41  Pot             0.967          0.9            0.249          0              0              0              72
  42  ButterKnife     -2.201         0.910          0.291          0              0              0              74
  43  PepperShaker    -0.313         1.650          -1.913         0              0              0              54
  44  DishSponge      -0.374         0.116          -1.683         0              0              0              58
  45  Bread           0.927          0.989          -0.309         0              0              0              72
  46  Apple           1.376          1.402          2.226          0              270            0              91
  47  Spoon           -2.039         0.911          -1.534         0              0              0              70
  48  Mug             -0.953         1.845          -1.912         0              0              0              52
  49  Drawer          0.860          0.75           0.430          0              0              0
  50  Drawer          0.871          0.75           -1.134         0              0              0
  51  Sink            0.156          0.817          -1.801         0              270            0
  52  Cabinet         -0.868         2.005          -1.690         0              0              0
  53  Cabinet         -1.661         2.059          -1.684         0              90             0
  54  Cabinet         -0.817         2.059          -1.689         0              0              0
  55  Cabinet         0.860          0.402          0.665          0              0              0
  56  Cabinet         0.860          0.402          -0.552         0              0              0
  57  Cabinet         0.860          0.402          -1.365         0              0              0
  58  Cabinet         -0.244         0.402          -1.389         0              0              0
  59  Cabinet         -0.815         0.402          -1.389         0              0              0
  60  Cabinet         1.159          2.059          -0.334         0              0              0
  61  Cabinet         0.488          2.059          -1.689         0              0              0
  62  Cabinet         -0.193         2.059          -1.689         0              0              0
  63  Drawer          0.860          0.75           -0.699         0              0              0
  64  Cabinet         1.159          2.059          -1.019         0              0              0
  65  Cabinet         -1.611         2.005          -1.690         0              0              0
  66  Cabinet         0.832          0.401          -1.393         0              90             0
  67  Drawer          -2.105         0.75           -1.389         0              0              0
  68  StoveBurner     -1.081         0.941          -1.809         0              0              0
  69  Cabinet         -0.202         0.401          -1.391         0              90             0
  70  CounterTop      -1.973         0.945          -1.707         0              0              0
  71  Drawer          -0.375         0.75           -1.389         0              0              0
  72  CounterTop      1.164          0.946          -0.649         0              0              0
  73  StoveBurner     -1.081         0.941          -1.527         0              0              0
  74  CounterTop      -2.096         0.945          0.291          0              0              0
  75  Cabinet         -2.237         0.402          -1.389         0              0              0
  76  Drawer          0.584          0.75           -1.389         0              0              0
  77  Drawer          -1.795         0.75           -1.389         0              0              0
  78  CounterTop      1.5            1.197          -0.654         0              0              0
  79  Cabinet         -1.667         0.402          -1.389         0              0              0
  80  StoveBurner     -1.430         0.941          -1.525         0              0              0
  81  Drawer          -0.685         0.75           -1.389         0              0              0
  82  StoveBurner     -1.430         0.941          -1.809         0              0              0
  83  LightSwitch     -2.539         1.289          2.568          0              90             0
  84  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  85  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  86  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  87  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  88  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  89  GarbageCan      1.343          0.015          1.041          0              0              0
  90  HousePlant      1.440          1.153          0.593          0              0              0
  91  Fridge          1.417          0.0            2.101          0              0              0
  92  Window          -0.486         1.452          3.302          90             0              0
  93  SinkBasin       -0.063         0.765          -1.713         0              270            0
  94  Microwave       1.422          1.150          0.022          0              270            0
  95  Toaster         -2.066         0.900          -1.848         0              0              0
  96  Stool           -1.994         0.010          0.882          0              0              0
  97  Faucet          -0.096         1.041          -1.867         0              270            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Walk forward across the room and face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Look up to face the tomato on the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Place the knife on the counter. | STEP 6: Pick up a slice of tomato. | STEP 7: Turn to the right and face the right side of the sink. | STEP 8: Rinse the tomato slice in the sink and then pick it back up. | STEP 9: Turn around and walk forward and turn right to face the trash can on the floor. | STEP 10: Place the tomato slice in the trash can. | END