Task: slice and chill a tomato slice with a knife that's put away in a cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          0.5            0              180            0
   1  DishSponge      -1.791         0.951          0.435          0              90             0              84
   2  DishSponge      -2.614         0.951          0.614          0              90             0              84
   3  ButterKnife     -2.477         0.952          0.614          0              90             0              84
   4  Pot             1.007          0.962          0.561          0              270            0              53
   5  Fork            0.432          0.912          0.209          0              0              0              50
   6  Spoon           0.167          0.913          0.623          0              0              0              50
   7  Spatula         -2.065         0.967          0.435          0              0              0              84
   8  Spatula         -2.614         0.967          0.435          0              180            0              84
   9  Egg             1.663          0.947          0.623          0              0              0              66
  10  Egg             -2.614         0.987          0.345          0              90             0              84
  11  Plate           1.681          1.329          -1.809         0              180            0              67
  12  Knife           0.960          0.944          -1.649         0              90             0              49
  13  Knife           0.035          0.937          0.292          0              0              0              50
  14  SoapBottle      -2.340         0.950          0.165          0              90             0              84
  15  Bowl            0.394          0.108          -1.472         0              180            0              48
  16  PepperShaker    -2.203         0.948          0.614          0              90             0              84
  17  Bread           -2.065         1.035          0.255          0              90             0              84
  18  Lettuce         1.785          1.002          0.292          0              0              0              66
  19  Lettuce         -0.451         1.002          -1.820         0              0              0              51
  20  Apple           -0.096         0.979          0.209          0              0              0              50
  21  Apple           -0.872         1.082          -1.704         0              0              0              73
  22  Bread           -2.047         1.575          -1.763         0              0              0              81
  23  Knife           -1.928         0.977          0.524          0              90             0              84
  24  Fork            -2.340         0.952          0.255          0              90             0              84
  25  Bowl            0.445          0.109          0.308          0              0              0              62
  26  Kettle          1.412          0.913          -1.571         0              0              0              51
  27  Cup             0.035          0.910          0.209          0              0              0              50
  28  Tomato          -1.791         1.001          0.165          0              90             0              84
  29  SoapBottle      -0.427         0.068          0.612          0              90             0              80
  30  Plate           1.167          0.913          -1.654         0              0              0              51
  31  Pot             1.361          0.962          0.561          0              270            0              56
  32  Spatula         0.804          0.934          -1.516         0              270            0              49
  33  PaperTowelRoll  -0.451         1.016          -1.571         0              0              0              51
  34  Egg             -2.135         1.086          -1.849         0              0              0              81
  35  Lettuce         -2.047         0.871          -1.763         0              0              0              81
  36  SaltShaker      1.781          0.908          -1.489         0              0              0              51
  37  PepperShaker    -0.267         0.908          -1.571         0              0              0              51
  38  Apple           -0.329         0.137          0.526          0              90             0              80
  39  ButterKnife     1.711          0.9            0.273          0              318.152        0              66
  40  Potato          -2.065         0.982          0.614          0              90             0              84
  41  Pan             -2.135         0.510          -1.763         0              90             0              81
  42  DishSponge      0.167          0.911          0.209          0              0              0              50
  43  Spoon           0.377          0.784          -1.648         0              270            0              74
  44  Mug             -2.340         0.947          0.524          0              90             0              84
  45  Cabinet         -0.193         1.688          -1.648         0              180            0
  46  StoveBurner     1.360          0.957          0.293          0              180            0
  47  Drawer          0.499          0.792          0.296          0              0              0
  48  Cabinet         0.095          0.400          -1.352         0              180            0
  49  Sink            0.711          0.817          -1.772         0              270            0
  50  CounterTop      0.280          0.947          0.458          0              0              0
  51  CounterTop      -0.680         0.947          -1.654         0              0              0
  52  Drawer          1.825          0.792          0.296          0              0              0
  53  StoveBurner     1.007          0.957          0.561          0              270            0
  54  Drawer          -0.150         0.792          -1.496         0              0              0
  55  Drawer          -0.586         0.792          -1.496         0              0              0
  56  StoveBurner     1.360          0.957          0.561          0              270            0
  57  Drawer          0.024          0.792          0.296          0              0              0
  58  Cabinet         1.079          0.400          -1.349         0              180            0
  59  Cabinet         1.669          0.402          0.151          0              0              0
  60  Cabinet         0.055          0.402          -1.351         0              0              0
  61  Cabinet         -0.180         0.402          0.151          0              0              0
  62  Cabinet         0.729          0.402          0.151          0              0              0
  63  StoveBurner     1.007          0.957          0.293          0              180            0
  64  Drawer          -1.100         0.792          -1.496         0              0              0
  65  Cabinet         -0.396         0.402          -1.351         0              0              0
  66  CounterTop      1.776          0.947          0.458          0              0              0
  67  Cabinet         1.974          1.688          -1.648         0              180            0
  68  Cabinet         -0.820         0.400          -1.349         0              180            0
  69  Toaster         0.305          0.900          0.552          0              180            0
  70  LightSwitch     -2.756         1.307          -0.987         0              90             0
  71  Window          0.582          1.613          -1.967         90             0              0
  72  Window          1.969          1.5            -0.615         90             270            0
  73  Microwave       -1.037         0.900          -1.723         0              0              0
  74  SinkBasin       0.377          0.765          -1.655         0              270            0
  75  CoffeeMachine   0.618          0.900          0.600          0              180            0
  76  StoveKnob       1.246          0.913          0.118          45             180            0
  77  StoveKnob       1.373          0.913          0.118          45             180            0
  78  StoveKnob       0.995          0.913          0.118          45             180            0
  79  StoveKnob       1.126          0.913          0.118          45             180            0
  80  GarbageCan      -0.368         -0.029         0.539          0              90             0
  81  Fridge          -2.134         0.0            -1.690         0              0              0
  82  Faucet          0.549          1.046          -1.833         0              232.527        0
  83  Stool           -1.475         0.000          0.414          1.233          280.375        0
  84  DiningTable     -2.255         -0.004         0.432          0              0              0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: turn right, walk through kitchen to white table, turn right and face white table | STEP 2: pick up butter knife from table next to green sponge | STEP 3: move down the white table to the right until reaching the tomato on the table | STEP 4: slice the tomato on the table with the butter knife | STEP 5: turn around and face the fridge and counter to the left of the fridge | STEP 6: open the right cabinet door under the counter, put the knife in the bottom of the cabinet, close the cabinet door | STEP 7: turn around and face the white table and tomato on the table | STEP 8: pick up a tomato slice from the table | STEP 9: turn around and face the fridge  | STEP 10: open fridge door, place tomato slice on shelf with lettuce, close fridge door, wait, open fridge door, pick up tomato slice | STEP 11: turn around and face the white table | STEP 12: place the tomato slice on the white table to the left of the soap dispenser | END