Task: Put a knife in the cabinet and a clean tomato slice 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 around and go to the counter in front of the sink.  | STEP 2: Pick up the knife on the counter, in front of the sink on the left.  | STEP 3: Move over to the counter on the right side of the sink.  | STEP 4: Cut the tomato near the corner of the counter into slices.  | STEP 5: Step back from the counter and turn so that you are facing the bottom cabinets and dishwasher.  | STEP 6: Place the knife in the left side of the cabinet to the right of the dishwasher.  | STEP 7: Turn back to the counter top to the right of the sink where the cut tomato is.  | STEP 8: Pick up one of the slices of tomato on the counter top.  | STEP 9: Move over to the small sink on your left.  | STEP 10: Place the tomato slice in the small sink on the left, turn the water on, rinse off the tomato slice, turn the water off, and remove the tomato slice from the sink.  | STEP 11: Move back over to the counter to top to the right of the sink.  | STEP 12: Place the slice of tomato on the counter, in front of the sink on the right.  | END