Task: Slice a tomato with a knife, place it in a bowl, bring it to the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          -0.5           0              270            0
   1  DishSponge      0.387          0.109          0.383          0              0              0              57
   2  ButterKnife     0.432          0.912          0.209          0              0              0              45
   3  ButterKnife     -0.175         0.912          -1.654         0              0              0              46
   4  Pot             1.361          0.962          0.561          0              270            0              51
   5  Spoon           0.341          0.777          -1.552         0              270            0              69
   6  Spatula         1.601          0.927          0.540          0              90             0              61
   7  Egg             1.167          0.947          -1.903         0              0              0              46
   8  Egg             0.701          0.954          -1.649         0              270            0              44
   9  Cup             -2.047         0.509          -1.677         0              0              0              76
  10  Plate           -2.222         0.512          -1.763         0              0              0              76
  11  Knife           1.846          0.937          0.623          0              0              0              61
  12  SaltShaker      0.172          0.102          0.281          0              0              0              56
  13  PepperShaker    1.601          0.908          0.209          0              0              0              61
  14  PepperShaker    1.608          1.325          -1.809         0              180            0              62
  15  Bread           -2.047         0.863          -1.763         0              0              0              76
  16  Mug             0.618          0.945          0.469          0              180            0              70
  17  Bread           1.724          0.995          0.375          0              0              0              61
  18  Knife           0.167          0.937          0.375          0              0              0              45
  19  Fork            0.397          0.768          -1.714         0              0              0              69
  20  Bowl            -0.538         0.110          -1.508         0              0              0              60
  21  Kettle          -0.055         0.9            0.643          0              0              0              45
  22  Cup             -1.872         0.509          -1.677         0              0              0              76
  23  Tomato          0.804          0.968          -1.649         0              270            0              44
  24  SoapBottle      -0.362         0.068          0.569          0              90             0              75
  25  Plate           -0.359         0.913          -1.654         0              0              0              46
  26  Pot             1.007          0.962          0.561          0              270            0              48
  27  Spatula         1.846          0.927          0.458          0              270            0              61
  28  PaperTowelRoll  0.432          1.016          0.292          0              0              0              45
  29  Egg             -1.959         0.546          -1.806         0              0              0              76
  30  Lettuce         1.412          1.002          -1.654         0              0              0              46
  31  SaltShaker      1.907          0.908          0.623          0              0              0              61
  32  PepperShaker    0.562          0.106          0.270          0              0              0              57
  33  Apple           -0.872         1.082          -1.737         0              0              0              68
  34  ButterKnife     1.781          0.912          -1.489         0              0              0              46
  35  Potato          0.753          0.949          -1.516         0              270            0              44
  36  Pan             1.022          0.959          0.288          0              219.190        0              58
  37  DishSponge      -0.394         0.069          0.482          0              90             0              75
  38  Spoon           -0.150         0.773          -1.473         0              270            0              49
  39  Mug             -0.129         0.101          0.320          0              180            0              56
  40  Cabinet         -0.193         1.688          -1.648         0              180            0
  41  StoveBurner     1.360          0.957          0.293          0              180            0
  42  Drawer          0.499          0.792          0.296          0              0              0
  43  Cabinet         0.095          0.400          -1.352         0              180            0
  44  Sink            0.711          0.817          -1.772         0              270            0
  45  CounterTop      0.280          0.947          0.458          0              0              0
  46  CounterTop      -0.680         0.947          -1.654         0              0              0
  47  Drawer          1.825          0.792          0.296          0              0              0
  48  StoveBurner     1.007          0.957          0.561          0              270            0
  49  Drawer          -0.150         0.792          -1.496         0              0              0
  50  Drawer          -0.586         0.792          -1.496         0              0              0
  51  StoveBurner     1.360          0.957          0.561          0              270            0
  52  Drawer          0.024          0.792          0.296          0              0              0
  53  Cabinet         1.079          0.400          -1.349         0              180            0
  54  Cabinet         1.669          0.402          0.151          0              0              0
  55  Cabinet         0.055          0.402          -1.351         0              0              0
  56  Cabinet         -0.180         0.402          0.151          0              0              0
  57  Cabinet         0.729          0.402          0.151          0              0              0
  58  StoveBurner     1.007          0.957          0.293          0              180            0
  59  Drawer          -1.100         0.792          -1.496         0              0              0
  60  Cabinet         -0.396         0.402          -1.351         0              0              0
  61  CounterTop      1.776          0.947          0.458          0              0              0
  62  Cabinet         1.974          1.688          -1.648         0              180            0
  63  Cabinet         -0.820         0.400          -1.349         0              180            0
  64  Toaster         0.305          0.900          0.552          0              180            0
  65  LightSwitch     -2.756         1.307          -0.987         0              90             0
  66  Window          0.582          1.613          -1.967         90             0              0
  67  Window          1.969          1.5            -0.615         90             270            0
  68  Microwave       -1.037         0.900          -1.723         0              0              0
  69  SinkBasin       0.377          0.765          -1.655         0              270            0
  70  CoffeeMachine   0.618          0.900          0.600          0              180            0
  71  StoveKnob       1.246          0.913          0.118          45             180            0
  72  StoveKnob       1.373          0.913          0.118          45             180            0
  73  StoveKnob       0.995          0.913          0.118          45             180            0
  74  StoveKnob       1.126          0.913          0.118          45             180            0
  75  GarbageCan      -0.368         -0.029         0.539          0              90             0
  76  Fridge          -2.134         0.0            -1.690         0              0              0
  77  Faucet          0.549          1.046          -1.833         0              232.527        0
  78  Stool           -1.475         0.000          0.414          1.233          280.375        0
  79  DiningTable     -2.255         -0.004         0.432          0              0              0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn right and go to the counter to the left of the stove. | STEP 2: Pick up the knife located between the roll of paper towels and the front of the counter. | STEP 3: Turn around and walk in the direction of the sink. | STEP 4: Slice the left half of the tomato located to the left of the sink in sections perpendicular to the front of the counter on which it is located. | STEP 5: Turn around and walk towards the stove. | STEP 6: Place the knife upright with the handle down in the pan on the left back burner of the stove. | STEP 7: Turn around and walk towards the tomato to the left of the sink. | STEP 8: Pick up the center slice of the tomato. | STEP 9: Turn around and walk to the stove. | STEP 10: Place the tomato slice next to the knife in the pan on the left rear burner of the stove. | STEP 11: Pick up the pan containing the knife and the tomato. | STEP 12: Turn and walk towards the door, stop and face the table to the right of the front of the door. | STEP 13: Place the pan on the right side rear of the table with the knife and tomato on the inside of the bowel that is nearest the center line of the table. | END