Task: Slice, clean, put away tomato

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          2.0            0              270            0
   1  Pan             1.567          0.948          -0.355         0              0              0              60
   2  Pan             1.631          0.120          -1.266         0              0              0              58
   3  Spatula         -0.064         0.779          -2.116         0              90             0              76
   4  Spatula         -0.047         0.941          1.220          0              0              0              81
   5  Spoon           -0.963         0.914          -2.079         0              0              0              64
   6  Fork            1.919          0.914          -1.095         0              270            0              64
   7  Egg             2.009          0.967          -1.563         0              0              0              64
   8  Egg             0.408          0.980          0.305          0              0              0              81
   9  Cup             -1.380         0.859          -1.013         0              90             0              72
  10  Cup             1.340          1.660          -2.124         0              0              0              51
  11  Plate           0.180          0.930          1.448          0              0              0              81
  12  Plate           1.913          1.661          -1.199         0              270            0              55
  13  Knife           0.119          0.936          -1.737         0              0              0              64
  14  Knife           0.294          0.950          1.220          0              0              0              81
  15  SoapBottle      1.850          0.912          -1.834         0              0              0              64
  16  SoapBottle      -1.072         0.912          -2.188         0              0              0              64
  17  PepperShaker    -0.564         0.909          -2.233         0              0              0              64
  18  Bread           0.408          0.975          0.534          0              0              0              81
  19  Mug             -0.668         0.908          -2.233         0              0              0              64
  20  Apple           1.738          0.984          -1.095         0              0              0              64
  21  Apple           -0.210         0.835          -1.981         0              0              0              76
  22  Apple           -1.553         1.254          -0.910         0              90             0              72
  23  Potato          -1.572         1.533          -1.013         0              90             0              72
  24  Bowl            -0.697         0.108          -1.917         0              0              0              57
  25  SoapBottle      -0.160         0.925          0.076          0              0              0              81
  26  Fork            -0.346         0.914          -1.725         0              0              0              64
  27  Ladle           0.408          0.975          0.991          0              0              0              81
  28  Bread           -0.047         0.972          0.762          0              0              0              81
  29  Lettuce         -1.429         0.925          -0.542         0              315            0              72
  30  WineBottle      0.294          0.931          0.991          0              0              0              81
  31  Spatula         1.828          0.928          -1.446         0              270            0              64
  32  Plate           -1.495         1.187          -0.495         0              90             0              72
  33  SaltShaker      1.464          0.877          2.456          0              0              0              85
  34  Pot             1.845          0.948          -0.355         0              0              0              45
  35  Cup             1.359          0.553          2.482          0              0              0              90
  36  PepperShaker    1.669          0.877          2.537          0              0              0              91
  37  Pan             1.909          1.657          -1.608         0              0              0              54
  38  ButterKnife     -0.113         0.913          -1.750         0              0              0              64
  39  Tomato          0.066          0.982          0.534          0              0              0              81
  40  DishSponge      1.828          0.913          -1.212         0              0              0              64
  41  Egg             -1.438         0.913          -0.392         0              90             0              72
  42  Spoon           -0.137         0.765          -1.981         0              90             0              76
  43  Knife           1.919          0.936          -1.329         0              0              0              64
  44  Mug             1.466          0.908          -1.680         0              0              0              64
  45  StoveBurner     1.845          0.940          -0.355         0              0              0
  46  StoveBurner     1.567          0.940          -0.757         0              0              0
  47  Cabinet         -1.149         2.019          -1.979         0              90             0
  48  Cabinet         -1.149         2.265          -0.834         0              90             0
  49  Cabinet         -0.459         2.265          -2.0           0              0              0
  50  Cabinet         -1.100         2.019          -2.0           0              0              0
  51  Cabinet         1.719          2.019          -2.0           0              0              0
  52  Cabinet         1.179          2.019          -2.0           0              0              0
  53  Cabinet         0.199          2.019          -2.0           0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              270            0
  56  Cabinet         1.379          0.469          -1.689         0              0              0
  57  Cabinet         -0.819         0.469          -1.689         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              270            0
  59  Cabinet         -0.839         0.469          -1.665         0              90             0
  60  StoveBurner     1.567          0.940          -0.355         0              0              0
  61  StoveBurner     1.845          0.940          -0.757         0              0              0
  62  Sink            -0.109         0.893          -2.009         0              0              0
  63  Drawer          -0.819         0.75           -1.690         0              0              0
  64  CounterTop      0.232          0.949          -2.002         0              0              0
  65  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  66  Vase            0.251          0.546          0.475          0              270            0
  67  Toaster         0.780          0.900          -2.080         0              0              0
  68  LightSwitch     0.108          1.315          2.75           0              180            0
  69  Vase            0.400          0.925          0.218          0              180            0
  70  Microwave       -1.233         0.900          -1.680         0              90             0
  71  Vase            1.465          1.662          -2.200         0              0              0
  72  Fridge          -1.495         0.0            -0.703         0              0              0
  73  Window          2.114          1.495          1.072          90             270            0
  74  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  75  Vase            0.333          0.546          1.272          0              270            0
  76  SinkBasin       -0.148         0.753          -2.026         0              0              0
  77  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  81  DiningTable     0.170          0.005          0.678          0              270            0
  82  Shelf           0.170          0.155          0.678          0              270            0
  83  Shelf           1.605          0.172          2.480          0              0              0
  84  Shelf           1.605          0.552          2.480          0              0              0
  85  Shelf           1.604          0.880          2.479          0              0              0
  86  ShelvingUnit    1.605          0.006          2.480          0              0              0
  87  Faucet          -0.143         1.028          -2.223         0              270            0
  88  Stool           -0.553         0.000          0.871          1.233          280.376        0
  89  Shelf           0.170          0.528          0.678          0              270            0
  90
  91
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn left, go forward to sink | STEP 2: Pick up knife in the middle | STEP 3: Go to table in center on side with tomato | STEP 4: Slice tomato with knife | STEP 5: Go to sink on the right | STEP 6: Place knife in sink to the right of the apple | STEP 7: Go to center table by tomato | STEP 8: Pick up tomato slice from the table | STEP 9: Go back to sink | STEP 10: Place tomato slice in sink to right of knife, turn on water, | STEP 11: turn on water, pick up tomato slice | STEP 12: Go to microwave on right, place tomato slice on plate in microwave | END