Task: Cut a 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           -1.75          0.900          2.75           0              90             0
   1  Potato          -2.724         0.862          0.129          0              0              0              48
   2  DishSponge      -0.428         0.695          1.288          0              0              0              44
   3  DishSponge      -2.687         0.121          1.510          0              0              0              59
   4  Fork            -1.876         0.824          0.539          0              0              0              48
   5  Spoon           -2.698         0.693          1.511          0              90             0              53
   6  Spatula         -2.724         0.838          0.203          0              180            0              48
   7  Egg             -2.258         0.847          0.426          0              0              0              48
   8  Plate           -1.885         0.130          0.362          0              0              0              60
   9  Tomato          -2.837         1.495          2.045          0              90             0              66
  10  Tomato          -2.658         0.873          0.953          0              0              0              48
  11  SoapBottle      -2.569         0.119          1.510          0              0              0              59
  12  Bowl            -2.540         1.845          2.368          0              0              0              58
  13  SaltShaker      -2.504         0.818          0.544          0              0              0              48
  14  SaltShaker      -2.957         0.818          0.129          0              0              0              48
  15  PepperShaker    -1.151         0.818          0.129          0              0              0              48
  16  PepperShaker    -2.258         0.818          0.055          0              0              0              48
  17  Mug             -2.777         0.916          1.178          0              90             0              67
  18  Apple           -2.837         1.216          2.309          0              90             0              66
  19  Apple           -2.840         0.896          0.129          0              0              0              48
  20  Apple           -0.295         0.129          2.606          0              0              0              68
  21  Fork            -0.363         0.697          0.875          0              90             0              50
  22  Ladle           -2.752         1.479          0.260          0              45             0              54
  23  Pan             -2.782         1.445          2.397          0              0              0              66
  24  SoapBottle      -2.882         1.432          1.372          0              0              0              56
  25  Pot             -0.518         0.829          2.075          0              180            0              45
  26  Tomato          -2.671         1.495          1.957          0              90             0              66
  27  Potato          -0.169         0.862          0.992          0              0              0              48
  28  SaltShaker      -2.794         1.430          0.413          0              45             0              54
  29  Plate           -2.726         0.829          2.045          0              90             0              66
  30  Spatula         -2.491         0.838          0.500          0              180            0              48
  31  Knife           -2.375         0.849          0.203          0              0              0              48
  32  Egg             -2.724         0.847          0.352          0              0              0              48
  33  Cup             -2.881         1.436          0.640          0              0              0              57
  34  ButterKnife     -2.493         0.812          0.476          0              50.734         0              48
  35  Lettuce         -1.836         0.741          0.238          0              55.910         0              75
  36  PepperShaker    -2.000         0.120          0.518          0              180            0              60
  37  DishSponge      -0.860         0.709          0.445          0              0              0              51
  38  Bread           -0.979         0.855          0.249          0              29.999         0              48
  39  Spoon           -2.597         0.693          1.474          0              90             0              53
  40  Mug             -0.646         0.888          0.367          0              0              0              76
  41  Bowl            -2.540         1.845          1.978          0              0              0              42
  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: Move right then left and straight back to the counter top by the sink | STEP 2: Pick up the knife on top of the counter to the right of the sink | STEP 3: Carry the knife to the counter top left of the microwave where the tomato is | STEP 4: Cut the tomato on the counter | END