Task: slice a tomato with a knife

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          1.124          1.5            0              90             0
   1  Pan             0.506          1.322          -1.312         0              0              0              57
   2  Potato          -1.698         1.090          -0.451         0              0              0              75
   3  WineBottle      -1.952         0.344          0.512          0              0              0              55
   4  WineBottle      0.636          1.323          -1.683         0              0              0              57
   5  Kettle          -0.749         1.332          -2.973         0              0              0              60
   6  Fork            -2.049         1.323          0.445          0              0              0              57
   7  Fork            1.065          0.740          0.983          0              90             0              81
   8  Spoon           0.506          1.324          -2.424         0              0              0              57
   9  Spoon           -1.954         1.052          -0.542         0              0              0              75
  10  Pot             -0.630         1.331          -3.301         0              180            0              54
  11  Pot             -0.125         1.332          -2.973         0              0              0              65
  12  Cup             0.982          1.943          1.788          0              270            0              70
  13  Plate           0.900          0.345          -2.267         0              180            0              56
  14  Knife           -1.741         1.356          -0.980         0              180            353.927        64
  15  Knife           -1.829         1.357          -1.186         0              180            353.875        64
  16  SoapBottle      -1.687         0.420          -0.561         0              0              0              61
  17  SoapBottle      -1.308         1.323          -3.203         0              0              0              57
  18  Tomato          0.911          2.062          2.052          0              270            0              70
  19  Tomato          1.276          1.241          1.254          0              0              0              82
  20  Tomato          0.766          1.356          -2.794         0              0              0              57
  21  Bowl            -1.789         0.342          -1.763         0              0              0              53
  22  Bowl            -1.886         0.342          1.213          0              0              0              58
  23  PepperShaker    -1.530         1.318          1.419          0              0              0              57
  24  PepperShaker    0.634          1.318          -3.232         0              0              0              57
  25  Lettuce         -1.530         1.399          -2.201         0              0              0              57
  26  Mug             0.420          1.318          -2.789         0              180            0              57
  27  Apple           -1.698         1.099          -0.633         0              0              0              75
  28  Apple           -1.634         0.329          2.151          0              270            0              72
  29  Bread           -1.513         1.380          0.662          0              0              0              57
  30  Pot             -1.749         0.350          0.613          0              0              0              55
  31  Knife           -1.237         1.352          -3.092         0              180            0              57
  32  Bowl            0.920          1.522          1.724          0              270            0              70
  33  Potato          0.982          1.985          1.553          0              270            0              70
  34  SoapBottle      -1.614         0.344          1.317          0              0              0              58
  35  Fork            -1.165         1.323          -2.870         0              90             0              57
  36  Cup             -1.165         1.320          -3.314         0              0              0              57
  37  Kettle          0.976          0.346          -1.854         0              180            0              56
  38  Egg             1.095          1.715          1.486          0              270            0              70
  39  Pan             0.349          1.322          -3.121         0              180            0              57
  40  SaltShaker      0.634          1.318          -3.121         0              0              0              57
  41  WineBottle      -1.681         0.344          0.211          0              0              0              55
  42  Lettuce         -1.896         1.399          -1.049         8.212          337.485        343.819        64
  43  Spatula         -1.772         0.435          -1.217         0              90             0              63
  44  PaperTowelRoll  0.636          1.427          -2.794         0              0              0              57
  45  Tomato          0.944          1.241          1.222          0              0              0              82
  46  Plate           -1.750         0.344          1.523          0              0              0              58
  47  PepperShaker    -1.884         0.338          0.412          0              0              0              55
  48  DishSponge      -2.179         1.322          -2.721         0              0              0              57
  49  Spoon           -1.094         1.324          -3.314         0              90             0              57
  50  Apple           1.025          1.371          -2.053         0              0              0              71
  51  Mug             1.148          1.305          0.810          0              270            0              82
  52  StoveBurner     -0.239         1.325          -3.301         0              180            0
  53  Cabinet         -1.461         0.775          -2.002         0              0              0
  54  StoveBurner     -0.630         1.325          -3.301         0              180            0
  55  Cabinet         -1.461         0.775          0.470          0              0              0
  56  Cabinet         0.578          0.776          -2.054         0              0              0
  57  CounterTop      -1.809         1.358          1.182          0              0              0
  58  Cabinet         -1.461         0.775          1.310          0              0              0
  59  Faucet          -2.063         1.362          -0.726         0              39.391         0
  60  StoveBurner     -0.749         1.325          -2.973         0              0              0
  61  Drawer          -1.610         0.681          -0.430         0              0              0
  62  Window          -2.566         1.799          -0.822         270            0              0
  63  Drawer          -1.610         0.681          -1.217         0              0              0
  64  Sink            -1.990         1.143          -0.975         0              0              0
  65  StoveBurner     -0.125         1.325          -2.973         0              0              0
  66  StoveKnob       -0.185         1.338          -2.741         0              270            180
  67  StoveKnob       -0.336         1.338          -2.741         0              270            180
  68  StoveKnob       -0.569         1.338          -2.741         0              270            180
  69  StoveKnob       -0.707         1.338          -2.741         0              270            180
  70  Fridge          1.013          0.227          1.917          0              270            0
  71  Microwave       0.994          1.310          -2.163         0              270            0
  72  GarbageCan      -1.633         0.212          2.192          0              270            0
  73  LightSwitch     1.386          1.565          -0.657         0              270            0
  74  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  75  SinkBasin       -1.835         1.039          -0.542         0              0              0
  76  ButterKnife     0.873          0.468          0.651          0              0              0
  77  Toaster         -1.885         1.310          -2.512         0              90             0
  78  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  79  Drawer          0.647          1.061          0.680          0              270            0
  80  Drawer          0.648          1.061          1.020          0              270            0
  81  Drawer          0.648          0.843          1.020          0              270            0
  82  SideTable       0.975          0.220          0.869          0              270            0
  83  Drawer          0.648          0.602          0.680          0              270            0
  84  Drawer          0.648          0.596          1.020          0              270            0
  85  Drawer          0.648          0.843          0.680          0              270            0
  86  Stool           0.606          0.222          -1.084         1.233          280.489        0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: turn right, walk across the room, turn right to face the sink, walk forward | STEP 2: pick up the knife that is on the left of the sink | STEP 3: turn right, walk across room, turn right, walk forward to the microwave | STEP 4: cut a tomato in to slices | END