Task: get a knife to cut a tomato

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           0.900          1.25           0              180            0
   1  Pan             -1.289         0.957          -1.02          0              0              0              70
   2  Potato          0.141          0.793          -2.063         0              0              0              90
   3  Ladle           1.528          1.690          -2.055         0              180            0              53
   4  DishSponge      -1.045         1.131          0.485          0              0              0              76
   5  DishSponge      -0.290         0.762          -1.897         0              0              0              90
   6  ButterKnife     -1.018         0.911          -2.182         0              0              0              80
   7  Spatula         -0.252         0.711          0.098          0              90             0              79
   8  Fork            0.969          0.911          -1.929         0              90             0              80
   9  Spoon           -0.152         1.132          0.573          0              0              0              76
  10  Egg             -0.420         0.947          0.188          0              0              0              73
  11  SoapBottle      1.845          0.063          0.138          0              0              0              83
  12  SoapBottle      -1.080         0.913          -0.414         0              0              0              73
  13  Tomato          -0.031         0.812          -2.063         0              0              0              90
  14  Tomato          -1.330         0.963          -0.109         0              0              0              73
  15  Tomato          -0.598         1.181          0.573          0              0              0              76
  16  Bowl            1.950          1.649          -1.737         0              0              0              58
  17  Bowl            0.330          1.657          -2.161         0              0              0              60
  18  PepperShaker    3.109          0.548          0.245          0              180            0              86
  19  Lettuce         1.891          1.175          -0.644         0              270            0              87
  20  Apple           1.781          1.476          -0.644         0              270            0              87
  21  Apple           -1.330         0.962          -0.353         0              0              0              73
  22  Pan             -1.289         0.957          -0.756         0              180            0              55
  23  Knife           0.744          0.934          -2.098         0              0              0              80
  24  Bowl            2.798          0.549          0.245          0              180            0              86
  25  Fork            -0.117         0.763          -1.952         0              0              0              90
  26  Cup             0.101          0.750          -1.938         0              0              0              90
  27  Ladle           -0.777         0.948          -1.760         0              0              0              80
  28  Apple           1.945          0.865          -0.458         0              270            0              87
  29  Kettle          -1.047         0.953          -2.094         0              0              0              80
  30  Vase            1.469          1.655          -2.200         0              90             0              53
  31  Potato          1.846          1.045          -1.350         0              270            0              85
  32  Pot             -1.089         0.9            0.235          0              0              0              73
  33  Bread           -1.148         0.981          -0.193         0              0              0              73
  34  Plate           1.644          0.909          -1.929         0              0              0              80
  35  Spatula         -0.725         0.707          -1.802         0              270            0              50
  36  PaperTowelRoll  2.900          0.984          0.195          0              180            0              84
  37  Vase            1.194          0.917          -1.929         0              0              0              80
  38  Egg             1.748          1.049          -1.297         0              270            0              85
  39  SoapBottle      -0.205         0.913          0.241          0              0              0              73
  40  SaltShaker      -1.045         1.127          0.706          0              0              0              76
  41  Lettuce         1.891          0.893          -0.737         0              270            0              87
  42  PepperShaker    -0.375         1.127          0.573          0              0              0              76
  43  ButterKnife     -0.152         1.131          0.485          0              0              0              76
  44  DishSponge      2.002          0.062          0.166          0              0              0              83
  45  Vase            2.979          0.539          0.128          0              0              0              86
  46  Spoon           0.012          0.698          0.222          0              270            0              79
  47  Tomato          -0.376         0.812          -2.008         0              0              0              90
  48  Mug             -1.259         0.906          -1.929         0              0              0              80
  49  Statue          -0.997         0.920          -0.170         0              90             0              73
  50  Drawer          -0.819         0.75           -1.690         0              0              0
  51  Cabinet         -1.149         2.264          -0.838         0              90             0
  52  StoveBurner     -1.056         0.949          -0.671         0              180            0
  53  Cabinet         1.738          2.019          -2.000         0              0              0
  54  Cabinet         1.389          0.469          -1.059         0              0              0
  55  StoveBurner     -1.289         0.949          -0.755         0              180            0
  56  Faucet          -0.157         1.052          -2.196         0              270            0
  57  Cabinet         1.75           2.019          -1.029         0              0              0
  58  Cabinet         1.75           2.019          -1.399         0              0              0
  59  Cabinet         1.179          2.019          -2.0           0              0              0
  60  Cabinet         0.199          2.019          -2.0           0              0              0
  61  Cabinet         -1.100         2.019          -2.0           0              0              0
  62  Cabinet         -1.149         2.019          -1.979         0              0              0
  63  Cabinet         -1.149         2.019          -0.770         0              0              0
  64  Cabinet         -1.149         2.019          0.380          0              0              0
  65  Cabinet         -0.819         0.469          -1.689         0              0              0
  66  Cabinet         -0.839         0.469          -1.664         0              0              0
  67  Cabinet         -0.839         0.469          -0.049         0              0              0
  68  Cabinet         -0.414         0.370          -0.009         0              0              0
  69  Sink            -0.118         0.875          -2.009         0              0              0
  70  StoveBurner     -1.289         0.949          -1.019         0              0              0
  71  Cabinet         0.119          2.264          -2.0           0              0              0
  72  Cabinet         -0.459         2.264          -2.0           0              0              0
  73  CounterTop      -0.665         0.949          0.188          0              0              0
  74  Drawer          -0.449         0.75           -0.010         0              180            0
  75  Cabinet         -0.450         0.469          -0.009         0              0              0
  76  CounterTop      -0.630         1.167          0.573          0              0              0
  77  StoveBurner     -1.056         0.949          -1.126         0              0              0
  78  Cabinet         1.376          0.460          -1.685         0              0              0
  79  Drawer          -0.070         0.75           -0.009         0              180            0
  80  CounterTop      1.159          0.946          -2.013         0              0              0
  81  Cabinet         -1.150         2.264          -1.418         0              90             0
  82  HousePlant      -1.246         1.108          0.606          0              0              0
  83  GarbageCan      1.923          -0.010         0.137          0              0              0
  84  Shelf           2.759          0.880          0.144          0              0              0
  85  Microwave       1.827          0.900          -1.354         0              270            0
  86  Shelf           2.759          0.552          0.145          0              0              0
  87  Fridge          1.975          0.0            -0.537         0              0              0
  88  LightSwitch     0.404          1.297          2.0            0              180            0
  89  Shelf           2.760          0.172          0.145          0              0              0
  90  SinkBasin       -0.129         0.752          -2.007         0              0              0
  91  StoveKnob       -0.873         0.903          -0.827         45             90             0
  92  StoveKnob       -0.873         0.903          -0.676         45             90             0
  93  StoveKnob       -0.873         0.903          -0.966         45             90             0
  94  StoveKnob       -0.873         0.903          -1.123         45             90             0
  95  Toaster         0.840          0.900          -2.057         0              0              0
  96  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  97  ShelvingUnit    2.760          0.006          0.144          0              0              0
  98  Stool           -0.826         0.010          0.908          0              347.513        0
  99  Stool           -0.132         0.010          0.883          0              71.555         0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: turn left, take two steps, turn right, walk past counter, turn right, walk forward, turn left,  walk to counter to the right of the sink | STEP 2: pick up the knife that is on the counter | STEP 3: cut off the top of the tomato that is in the sink | END