Task: Grab a knife, cut a slice of tomato, put it on the fridge put it on the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          3.0            0              270            0
   1  Potato          -0.790         0.790          -1.629         0              0              0              66
   2  ButterKnife     0.732          0.910          1.004          0              270            0              39
   3  DishSponge      1.183          0.910          -1.247         0              90             0              43
   4  DishSponge      1.245          0.910          0.827          0              90             0              39
   5  Spoon           1.762          0.911          0.415          0              270            0              39
   6  Spoon           0.989          0.911          0.915          0              90             0              39
   7  Egg             1.800          0.105          1.684          0              270            0              57
   8  Plate           -0.692         0.462          -1.541         0              0              0              66
   9  SoapBottle      1.501          0.908          1.004          0              90             0              39
  10  Tomato          0.476          0.974          1.269          0              90             0              39
  11  Bowl            1.762          0.909          0.518          0              90             0              39
  12  SaltShaker      1.733          1.648          -0.257         0              0              0              50
  13  PepperShaker    1.935          0.906          -1.288         0              90             0              43
  14  PepperShaker    1.805          1.628          -0.828         0              0              0              51
  15  Mug             0.502          0.940          -1.460         0              0              0              65
  16  Mug             0.963          0.755          -1.654         0              270            0              58
  17  Plate           1.757          0.912          1.180          0              90             0              39
  18  SoapBottle      1.769          1.652          -0.449         0              0              0              50
  19  Cup             1.451          0.908          0.415          0              90             0              39
  20  Egg             1.77           0.105          1.588          0              270            0              57
  21  Fork            1.205          0.752          -1.725         0              0              0              58
  22  Ladle           1.806          1.699          0.045          0              0              0              49
  23  Apple           1.501          0.967          1.180          0              90             0              39
  24  SaltShaker      1.805          1.628          -0.901         0              180            0              51
  25  Pan             1.281          0.900          1.190          0              0              0              39
  26  Tomato          0.220          0.974          1.092          0              90             0              39
  27  Spatula         1.796          0.926          -1.460         0              90             0              43
  28  Potato          1.607          0.950          0.311          0              90             0              39
  29  Knife           1.139          0.761          -1.584         271.557        81.666         278.487        58
  30  ButterKnife     0.296          0.9            -1.296         0              14.568         0              43
  31  Bread           1.615          0.977          0.761          0              50.525         0              39
  32  Lettuce         0.856          0.989          1.120          0              270            1.472          39
  33  PepperShaker    1.516          0.906          -1.460         0              0              0              43
  34  Pot             1.807          0.909          -0.320         0              180            0              41
  35  DishSponge      1.726          0.910          -1.288         0              90             0              43
  36  Spoon           0.476          0.911          0.827          0              90             0              39
  37  Bowl            1.796          0.910          -1.545         0              90             0              43
  38  Mug             -0.295         1.059          -1.382         0              0              0              66
  39  CounterTop      0.989          0.946          1.016          0              90             0
  40  StoveBurner     1.807          0.907          0.075          0              180            0
  41  StoveBurner     1.807          0.907          -0.320         0              180            0
  42  StoveBurner     1.543          0.907          -0.320         0              90             0
  43  CounterTop      0.989          0.946          -1.516         0              90             0
  44  Sink            1.100          0.906          -1.599         0              0              0
  45  StoveBurner     1.548          0.907          0.075          0              180            0
  46  Cabinet         1.658          2.299          1.313          0              0              0
  47  Cabinet         1.658          2.299          0.686          0              0              0
  48  Cabinet         1.658          2.049          0.673          0              0              0
  49  Cabinet         1.658          2.059          0.193          0              0              0
  50  Cabinet         1.658          2.059          -0.593         0              0              0
  51  Cabinet         1.658          2.049          -0.606         0              0              0
  52  Cabinet         1.658          2.049          -1.206         0              0              0
  53  Cabinet         1.658          2.049          -1.893         0              0              0
  54  Toaster         0.131          0.900          -1.589         0              0              0
  55  Window          -0.372         1.588          3.349          90             0              0
  56  Window          0.782          1.741          -1.893         90             0              0
  57  GarbageCan      1.770          -0.029         1.685          0              270            0
  58  SinkBasin       1.091          0.740          -1.599         0              0              0
  59  StoveKnob       1.364          0.821          0.086          48.421         270            0
  60  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  61  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  62  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  63  Microwave       1.752          0.900          -0.843         0              270            0
  64  LightSwitch     2.0            1.261          3.094          0              270            0
  65  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  66  Fridge          -0.533         0.0            -1.554         0              0              0
  67  Chair           1.068          0.000          1.752          0              191.622        0
  68  Faucet          1.110          1.138          -1.764         0              270            0
  69  Chair           0.357          0.000          1.710          0              178.899        0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: Walk straight then turn left, then right towards the sink | STEP 2: Take the knife from the sink | STEP 3: Walk with the knife towards the counter | STEP 4: Slice the tomato on the counter | STEP 5: Walk with the knife towards the fridge | STEP 6: Put the knife inside the fridge | STEP 7: Walk towards the counter | STEP 8: Take a slice of tomato | STEP 9: Walk with the slice of tomato towards the fridge | STEP 10: Put the slice of tomato inside the fridge, close it and open it again to take the slice | STEP 11: Walk towards the sink, turn left  | STEP 12: Put the slice of tomato on the counter. | END