Task: Put clean tomato on the counter.

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          1.0            0              0              0
   1  Potato          -2.671         1.182          2.221          0              90             0              66
   2  Potato          -2.877         0.960          1.390          0              270            0              67
   3  DishSponge      -2.631         0.691          1.511          0              0              0              53
   4  ButterKnife     -1.709         0.823          0.508          0              0              0              48
   5  Spatula         -2.491         0.838          0.426          0              0              0              48
   6  Spatula         -2.658         0.838          0.953          0              180            0              48
   7  Egg             -1.967         0.726          0.295          0              0              0              75
   8  Cup             -2.671         1.445          1.957          0              90             0              66
   9  Plate           -2.671         1.148          2.045          0              90             0              66
  10  Plate           -2.569         0.126          1.471          0              0              0              59
  11  Knife           -0.817         0.849          0.500          0              0              0              48
  12  Tomato          -2.375         0.873          0.426          0              0              0              48
  13  SoapBottle      -0.169         0.821          1.214          0              0              0              48
  14  SoapBottle      -0.477         0.821          1.326          0              0              0              48
  15  Bowl            -2.781         0.821          2.045          0              90             0              66
  16  PepperShaker    -1.885         0.120          0.401          0              0              0              60
  17  Mug             -2.810         0.916          1.178          0              270            0              67
  18  Apple           -0.295         0.129          2.606          0              0              0              68
  19  Apple           -2.810         0.994          1.284          0              90             0              67
  20  Apple           -2.375         0.896          0.203          0              270            0              48
  21  Fork            -2.258         0.824          0.129          0              0              0              48
  22  Ladle           -2.540         1.893          1.926          0              0              0              42
  23  Pan             -0.244         0.829          1.684          0              0              0              47
  24  SoapBottle      -2.172         0.123          0.440          0              0              0              60
  25  Pot             -0.518         0.829          2.075          0              180            0              45
  26  Tomato          -2.669         1.181          2.373          0              0              0              66
  27  Potato          -2.892         0.863          2.485          0              90             0              66
  28  SaltShaker      -2.905         1.430          0.640          0              0              0              57
  29  Plate           -1.465         0.130          0.401          0              0              0              61
  30  Spatula         -0.341         0.696          1.194          0              45             0              44
  31  Knife           -2.662         0.819          0.557          90             300.034        0              48
  32  Egg             -2.491         0.847          0.203          0              0              0              48
  33  Cup             -2.619         1.849          2.264          0              0              0              58
  34  ButterKnife     -1.374         0.823          0.549          0              0              0              48
  35  Lettuce         -1.836         0.741          0.238          0              55.910         0              75
  36  PepperShaker    -2.504         0.818          0.871          0              0              0              48
  37  DishSponge      -2.491         0.823          0.055          0              0              0              48
  38  Bread           -2.782         1.491          2.221          0              90             0              66
  39  Spoon           -0.832         0.711          0.445          0              270            0              51
  40  Mug             -0.646         0.888          0.367          0              0              0              76
  41  Bowl            -0.397         0.115          0.914          0              0              0              64
  42  Cabinet         -2.377         2.015          1.720          0              0              0
  43  StoveBurner     -0.244         0.820          2.075          0              180            0
  44  Drawer          -0.402         0.703          1.252          0              0              0
  45  StoveBurner     -0.518         0.820          2.075          0              180            0
  46  Sink            -1.838         0.726          0.343          0              180            0
  47  StoveBurner     -0.244         0.820          1.684          0              0              0
  48  CounterTop      -1.557         0.859          0.277          0              0              0
  49  StoveBurner     -0.518         0.820          1.684          0              0              0
  50  Drawer          -0.404         0.704          0.912          0              0              0
  51  Drawer          -0.861         0.709          0.420          0              0              0
  52  Drawer          -1.133         0.706          0.418          0              0              0
  53  Drawer          -2.589         0.703          1.511          0              0              0
  54  Cabinet         -2.772         1.803          0.508          0              0              0
  55  Cabinet         -2.460         1.803          0.231          0              0              0
  56  Cabinet         -2.781         1.798          0.825          0              0              0
  57  Cabinet         -2.781         1.798          0.815          0              0              0
  58  Cabinet         -2.377         2.009          2.581          0              0              0
  59  Cabinet         -2.442         0.385          1.672          0              0              0
  60  Cabinet         -2.238         0.385          0.564          0              0              0
  61  Cabinet         -1.286         0.385          0.564          0              0              0
  62  Cabinet         -1.262         0.385          0.565          0              0              0
  63  Cabinet         -0.734         0.385          0.565          0              0              0
  64  Cabinet         -0.549         0.385          0.751          0              0              0
  65  Cabinet         -0.549         0.385          1.412          0              0              0
  66  Fridge          -2.782         0.0            2.221          0              0              0
  67  Microwave       -2.794         0.812          1.348          0              90             0
  68  GarbageCan      -0.329         2.205          2.606          0              0              0
  69  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  70  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  71  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  72  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  73  Window          -1.720         1.342          -0.208         90             0              0
  74  Toaster         -0.171         0.812          0.735          0              270            0
  75  SinkBasin       -1.745         0.687          0.295          0              0              0
  76  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  77  LightSwitch     -0.615         1.378          3.0            0              180            0
  78  Faucet          -1.686         0.954          0.176          0              236.223        0
  79  Stool           -1.008         0.008          1.955          0              18.279         0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn to the right, go forward, turn to the right to face the sink. | STEP 2: Pick up the butter knife that is on the counter in front of the leftmost sink. | STEP 3: Turn to the right, go forward, turn to the counter on the left where the tomato is. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Turn to the left, go forward, turn around and face the dishwasher. | STEP 6: Put the knife inside the cabinet that is to the right of the dishwasher. | STEP 7: Go forward, go to the left to the counter where the tomato is. | STEP 8: Pick up a slice of tomato from the counter. | STEP 9: Turn around, go forward, turn to the right, go forward, turn to the right to face the sink. | STEP 10: Put the tomato in the sink, rinse it off then pick it back up. | STEP 11: Turn to the right, go forward, turn to the left to face the sink. | STEP 12: Put the tomato on the counter in front of the rightmost sink. | END