Task: Slice with a knife a tomato in the sink

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          -0.25          0              90             0
   1  Statue          -1.259         0.918          -2.098         0              0              0              78
   2  Statue          -0.849         0.920          0.030          0              0              0              71
   3  Ladle           -1.045         1.168          0.662          0              0              0              74
   4  DishSponge      2.002          0.062          0.109          0              0              0              81
   5  DishSponge      2.798          0.551          0.142          0              180            0              84
   6  ButterKnife     -1.075         0.911          -1.469         0              0              0              78
   7  Kettle          0.446          1.661          -2.124         0              0              0              58
   8  Pot             -1.289         0.957          -0.756         0              180            0              53
   9  Fork            -0.290         0.763          -2.063         0              0              0              88
  10  Fork            -1.239         0.911          -1.638         0              0              0              78
  11  Plate           -1.073         0.127          -1.501         0              0              0              64
  12  SoapBottle      2.487          0.552          0.038          0              180            0              84
  13  Tomato          -1.330         0.963          -0.353         0              0              0              71
  14  Tomato          -0.031         0.812          -1.952         0              0              0              88
  15  Tomato          2.000          0.866          -0.830         0              270            0              85
  16  Bread           1.945          1.509          -0.458         0              270            0              85
  17  Bread           1.194          0.993          -1.929         0              0              0              78
  18  Lettuce         2.000          0.893          -0.644         0              270            0              85
  19  Mug             -0.375         1.126          0.529          0              180            0              74
  20  Pan             -1.056         0.956          -1.127         0              0              0              75
  21  Knife           -1.045         1.155          0.441          0              0              0              74
  22  Bowl            -1.272         1.657          -0.353         0              0              0              61
  23  Fork            -0.375         1.132          0.706          0              0              0              74
  24  Cup             0.101          0.750          -1.938         0              0              0              88
  25  Ladle           -0.205         0.950          0.030          0              0              0              71
  26  Apple           -1.330         0.962          -0.170         0              0              0              71
  27  Kettle          0.071          1.132          0.529          0              90             0              74
  28  Vase            -0.573         0.114          0.175          0              180            0              73
  29  Potato          1.910          1.045          -1.350         0              270            0              83
  30  Pot             -1.289         0.957          -1.02          0              0              0              68
  31  Bread           -1.148         0.981          -0.193         0              0              0              71
  32  Plate           -0.152         1.129          0.573          0              0              0              74
  33  Spatula         -0.725         0.707          -1.979         0              90             0              48
  34  PaperTowelRoll  -0.913         1.017          -0.048         0              0              0              71
  35  Vase            1.419          0.917          -2.098         0              0              0              78
  36  Egg             -1.063         0.947          0.188          0              0              0              98
  37  SoapBottle      2.491          0.879          0.195          0              180            0              82
  38  SaltShaker      -1.045         1.127          0.706          0              0              0              74
  39  Lettuce         1.891          1.175          -0.644         0              270            0              85
  40  PepperShaker    -0.623         0.690          -1.846         0              0              0              48
  41  ButterKnife     -0.598         1.131          0.706          0              180            0              74
  42  DishSponge      1.884          0.062          0.138          0              0              0              81
  43  Vase            2.979          0.539          0.128          0              0              0              84
  44  Spoon           -0.290         0.764          -1.952         0              90             0              88
  45  Tomato          -0.203         0.812          -2.118         0              0              0              88
  46  Mug             1.781          1.010          -1.402         0              270            0              83
  47  Statue          2.900          0.886          0.168          0              180            0              82
  48  Drawer          -0.819         0.75           -1.690         0              0              0
  49  Cabinet         -1.149         2.264          -0.838         0              90             0
  50  StoveBurner     -1.056         0.949          -0.671         0              180            0
  51  Cabinet         1.738          2.019          -2.000         0              0              0
  52  Cabinet         1.389          0.469          -1.059         0              0              0
  53  StoveBurner     -1.289         0.949          -0.755         0              180            0
  54  Faucet          -0.157         1.052          -2.196         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              0              0
  56  Cabinet         1.75           2.019          -1.399         0              0              0
  57  Cabinet         1.179          2.019          -2.0           0              0              0
  58  Cabinet         0.199          2.019          -2.0           0              0              0
  59  Cabinet         -1.100         2.019          -2.0           0              0              0
  60  Cabinet         -1.149         2.019          -1.979         0              0              0
  61  Cabinet         -1.149         2.019          -0.770         0              0              0
  62  Cabinet         -1.149         2.019          0.380          0              0              0
  63  Cabinet         -0.819         0.469          -1.689         0              0              0
  64  Cabinet         -0.839         0.469          -1.664         0              0              0
  65  Cabinet         -0.839         0.469          -0.049         0              0              0
  66  Cabinet         -0.414         0.370          -0.009         0              0              0
  67  Sink            -0.118         0.875          -2.009         0              0              0
  68  StoveBurner     -1.289         0.949          -1.019         0              0              0
  69  Cabinet         0.119          2.264          -2.0           0              0              0
  70  Cabinet         -0.459         2.264          -2.0           0              0              0
  71  CounterTop      -0.665         0.949          0.188          0              0              0
  72  Drawer          -0.449         0.75           -0.010         0              180            0
  73  Cabinet         -0.450         0.469          -0.009         0              0              0
  74  CounterTop      -0.630         1.167          0.573          0              0              0
  75  StoveBurner     -1.056         0.949          -1.126         0              0              0
  76  Cabinet         1.376          0.460          -1.685         0              0              0
  77  Drawer          -0.070         0.75           -0.009         0              180            0
  78  CounterTop      1.159          0.946          -2.013         0              0              0
  79  Cabinet         -1.150         2.264          -1.418         0              90             0
  80  HousePlant      -1.246         1.108          0.606          0              0              0
  81  GarbageCan      1.923          -0.010         0.137          0              0              0
  82  Shelf           2.759          0.880          0.144          0              0              0
  83  Microwave       1.827          0.900          -1.354         0              270            0
  84  Shelf           2.759          0.552          0.145          0              0              0
  85  Fridge          1.975          0.0            -0.537         0              0              0
  86  LightSwitch     0.404          1.297          2.0            0              180            0
  87  Shelf           2.760          0.172          0.145          0              0              0
  88  SinkBasin       -0.129         0.752          -2.007         0              0              0
  89  StoveKnob       -0.873         0.903          -0.827         45             90             0
  90  StoveKnob       -0.873         0.903          -0.676         45             90             0
  91  StoveKnob       -0.873         0.903          -0.966         45             90             0
  92  StoveKnob       -0.873         0.903          -1.123         45             90             0
  93  Toaster         0.840          0.900          -2.057         0              0              0
  94  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  95  ShelvingUnit    2.760          0.006          0.144          0              0              0
  96  Stool           -0.826         0.010          0.908          0              347.513        0
  97  Stool           -0.132         0.010          0.883          0              71.555         0
  98
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: turn to the right and take a few steps and turn to the right and take a few steps and turn to the left and go to the counter and turn to the right and go to the stove | STEP 2: pick up the knife left of the stove from the counter top | STEP 3: turn to the left twice and take a step and turn to the right facing the sink | STEP 4: slice with the knife the far tomato in the sink | END