Task: Slice and wash the tomato.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          1.0            0              90             0
   1  Pan             -0.244         0.829          2.075          0              180            0              48
   2  Potato          -2.810         0.960          1.337          0              90             0              72
   3  Ladle           -2.540         1.893          2.368          0              0              0              63
   4  Ladle           -2.658         0.867          0.871          0              0              0              53
   5  DishSponge      -2.491         0.823          0.055          0              0              0              53
   6  DishSponge      -2.619         1.848          1.823          0              0              0              47
   7  ButterKnife     -0.816         0.809          0.276          356.372        0              0              53
   8  Fork            -0.363         0.697          0.875          0              90             0              55
   9  Spoon           -2.496         0.693          1.474          0              90             0              58
  10  Spoon           -1.709         0.824          0.539          0              0              0              53
  11  Egg             -0.295         0.080          2.572          0              0              0              73
  12  Cup             -2.726         1.445          2.397          0              90             0              71
  13  Knife           -2.581         0.849          0.789          0              90             0              53
  14  Knife           -1.151         0.849          0.352          0              270            0              53
  15  Tomato          -2.781         0.874          1.957          0              90             0              71
  16  SoapBottle      -2.375         0.821          0.426          0              0              0              53
  17  SaltShaker      -0.169         0.818          1.214          0              0              0              53
  18  SaltShaker      -2.957         0.818          0.278          0              0              0              53
  19  PepperShaker    -2.172         0.120          0.440          0              0              0              65
  20  PepperShaker    -2.664         1.430          0.283          0              45             0              59
  21  Lettuce         -2.837         1.529          2.221          0              90             0              71
  22  Lettuce         -2.837         1.227          2.397          0              90             0              71
  23  Apple           -2.782         0.897          2.309          0              90             0              71
  24  Apple           -2.837         1.216          2.133          0              90             0              71
  25  Apple           -0.329         0.129          2.674          0              90             0              73
  26  Fork            -1.967         0.703          0.295          0              0              0              80
  27  Ladle           -2.057         0.169          0.401          0              0              0              65
  28  Pan             -0.244         0.829          1.684          0              0              0              52
  29  SoapBottle      -0.362         0.054          2.539          0              0              0              73
  30  Pot             -0.531         0.822          2.096          0              0              0              50
  31  Tomato          -2.504         0.873          0.953          0              0              0              53
  32  Potato          -2.671         0.863          2.485          0              90             0              71
  33  SaltShaker      -2.377         1.431          0.059          0              0              0              60
  34  Plate           -1.407         0.130          0.440          0              0              0              66
  35  Spatula         -0.341         0.696          1.194          0              45             0              49
  36  Knife           -2.662         0.819          0.557          90             300.034        0              53
  37  Egg             -2.671         1.167          2.221          0              90             0              71
  38  Cup             -0.169         0.823          1.103          0              0              0              53
  39  ButterKnife     -1.709         0.823          0.528          0              0              0              53
  40  Lettuce         -1.836         0.741          0.238          0              55.910         0              80
  41  PepperShaker    -2.569         0.116          1.589          0              0              0              64
  42  DishSponge      -2.724         0.823          0.055          0              0              0              53
  43  Bread           -0.978         0.855          0.250          0              30.131         0              53
  44  Spoon           -0.916         0.712          0.378          0              90             0              56
  45  Mug             -0.646         0.888          0.367          0              0              0              81
  46  Bowl            -0.397         0.115          0.914          0              0              0              69
  47  Cabinet         -2.377         2.015          1.720          0              0              0
  48  StoveBurner     -0.244         0.820          2.075          0              180            0
  49  Drawer          -0.402         0.703          1.252          0              0              0
  50  StoveBurner     -0.518         0.820          2.075          0              180            0
  51  Sink            -1.838         0.726          0.343          0              180            0
  52  StoveBurner     -0.244         0.820          1.684          0              0              0
  53  CounterTop      -1.557         0.859          0.277          0              0              0
  54  StoveBurner     -0.518         0.820          1.684          0              0              0
  55  Drawer          -0.404         0.704          0.912          0              0              0
  56  Drawer          -0.861         0.709          0.420          0              0              0
  57  Drawer          -1.133         0.706          0.418          0              0              0
  58  Drawer          -2.589         0.703          1.511          0              0              0
  59  Cabinet         -2.772         1.803          0.508          0              0              0
  60  Cabinet         -2.460         1.803          0.231          0              0              0
  61  Cabinet         -2.781         1.798          0.825          0              0              0
  62  Cabinet         -2.781         1.798          0.815          0              0              0
  63  Cabinet         -2.377         2.009          2.581          0              0              0
  64  Cabinet         -2.442         0.385          1.672          0              0              0
  65  Cabinet         -2.238         0.385          0.564          0              0              0
  66  Cabinet         -1.286         0.385          0.564          0              0              0
  67  Cabinet         -1.262         0.385          0.565          0              0              0
  68  Cabinet         -0.734         0.385          0.565          0              0              0
  69  Cabinet         -0.549         0.385          0.751          0              0              0
  70  Cabinet         -0.549         0.385          1.412          0              0              0
  71  Fridge          -2.782         0.0            2.221          0              0              0
  72  Microwave       -2.794         0.812          1.348          0              90             0
  73  GarbageCan      -0.329         2.205          2.606          0              0              0
  74  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  75  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  76  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  77  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  78  Window          -1.720         1.342          -0.208         90             0              0
  79  Toaster         -0.171         0.812          0.735          0              270            0
  80  SinkBasin       -1.745         0.687          0.295          0              0              0
  81  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  82  LightSwitch     -0.615         1.378          3.0            0              180            0
  83  Faucet          -1.686         0.954          0.176          0              236.223        0
  84  Stool           -1.008         0.008          1.955          0              18.279         0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn around and face the dish washer. | STEP 2: Pick up the knife beside the tomato on top of the counter. | STEP 3: Slice the tomato on the counter. | STEP 4: Move to the microwave on the counter to your right. | STEP 5: Put the knife inside the microwave. | STEP 6: Move to the sliced tomato on the counter to your left. | STEP 7: Pick up a slice of the tomato, | STEP 8: Turn around and move to the sink on your right. | STEP 9: Wash the slice of tomato and pick it back up. | STEP 10: Move to the right sink. | STEP 11: Set the slice of tomato onto the sink counter.  | END