Task: Use the table knife to slice a tomato, place it next to the coffee maker on the kitchen counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.900          0.5            0              180            0
   1  Pan             0.905          1.132          1.444          0              0              0              80
   2  Vase            -0.550         0.934          -1.540         0              0              0              57
   3  Potato          0.905          0.893          1.444          0              270            0              80
   4  CellPhone       0.793          0.150          -0.690         0              270            0              60
   5  ButterKnife     0.773          0.911          -0.381         0              0              0              58
   6  Glassbottle     -1.571         0.882          2.746          0              0              0              84
   7  Glassbottle     -0.550         0.934          0.315          0              0              0              57
   8  Fork            0.875          0.702          -0.607         0              0              0              55
   9  Spoon           -0.697         0.777          -0.745         0              90             0              78
  10  Spoon           0.834          0.496          -0.607         0              270            0              61
  11  Spatula         -0.698         0.948          0.009          0              0              0              57
  12  Egg             -1.054         0.214          0.543          0              180            0              77
  13  Egg             -0.808         0.814          -0.832         0              90             0              78
  14  Plate           1.194          1.669          -0.593         0              270            0              66
  15  Plate           1.101          1.669          0.089          0              270            0              65
  16  SoapBottle      1.082          2.208          -1.191         0              270            0              64
  17  Bowl            1.082          2.211          -0.973         0              270            0              64
  18  SaltShaker      1.194          1.662          -0.401         0              270            0              66
  19  PepperShaker    0.713          0.491          -0.772         0              270            0              61
  20  Bread           -1.229         1.014          -0.118         0              0              0              57
  21  Apple           0.844          1.693          0.967          0              270            0              80
  22  Apple           -0.587         0.830          -0.400         0              90             0              78
  23  Statue          -1.355         0.936          0.144          0              0              0              57
  24  Glassbottle     1.114          0.912          -0.555         0              0              0              58
  25  Bread           1.029          0.992          -0.208         0              0              0              58
  26  CreditCard      0.833          0.150          -0.611         0              270            0              60
  27  CellPhone       -1.363         0.550          2.770          0              0              0              83
  28  Potato          -0.865         0.207          0.608          0              180            0              77
  29  Knife           -0.624         0.957          -0.067         0              90             0              57
  30  Fork            0.944          0.911          -0.555         0              0              0              58
  31  Pan             0.848          0.946          -1.080         0              0              0              51
  32  Lettuce         1.026          1.212          1.063          0              270            0              80
  33  Plate           0.966          1.405          1.254          0              270            0              80
  34  Apple           0.905          0.913          1.158          0              270            0              80
  35  Pot             1.077          0.950          -1.504         0              0              0              53
  36  Spatula         -0.753         0.791          -0.573         0              180            0              78
  37  PaperTowelRoll  0.688          1.015          -0.034         0              0              0              58
  38  Tomato          1.199          0.952          -0.381         0              0              0              58
  39  Egg             1.126          1.833          -1.339         0              270            0              79
  40  SaltShaker      0.875          0.491          -0.690         0              270            0              61
  41  PepperShaker    0.794          0.491          -0.565         0              270            0              61
  42  Vase            1.101          1.666          -1.961         0              270            0              56
  43  ButterKnife     0.773          0.911          -0.208         0              0              0              58
  44  SoapBottle      1.212          2.208          -1.191         0              270            0              64
  45  Vase            -0.550         0.934          -1.231         0              0              0              57
  46  Bowl            1.169          2.211          -1.408         0              270            0              64
  47  DishSponge      -1.570         0.553          2.718          0              0              0              83
  48  Spoon           1.029          0.912          -0.729         0              0              0              58
  49  Cup             1.060          1.792          -1.132         0              270            0              79
  50  Mug             1.026          0.858          0.967          0              270            0              80
  51  StoveBurner     0.842          0.919          -1.098         0              0              0
  52  Cabinet         0.648          0.474          0.244          0              270            0
  53  StoveBurner     1.077          0.919          -1.504         0              0              0
  54  StoveBurner     0.842          0.919          -1.504         0              0              0
  55  Drawer          0.637          0.755          -0.649         0              270            0
  56  Cabinet         0.949          2.159          -2.375         0              270            0
  57  CounterTop      -1.238         0.968          -0.643         0              0              0
  58  CounterTop      0.931          0.946          -0.208         0              0              0
  59  StoveBurner     1.077          0.919          -1.098         0              0              0
  60  Drawer          0.637          0.268          -0.649         0              270            0
  61  Drawer          0.637          0.547          -0.649         0              270            0
  62  Cabinet         0.648          0.475          -1.714         0              0              0
  63  CounterTop      0.931          0.946          -2.051         0              0              0
  64  Cabinet         0.948          2.439          -1.780         0              270            0
  65  Cabinet         0.948          2.159          -0.140         0              270            0
  66  Cabinet         0.949          2.159          -0.758         0              270            0
  67  Sink            -0.699         0.927          -0.649         0              0              0
  68  LightSwitch     -2.371         1.218          3.049          0              180            0
  69  StoveKnob       0.673          0.899          -1.373         315            90             180
  70  StoveKnob       0.673          0.899          -1.519         315            90             180
  71  StoveKnob       0.673          0.899          -1.086         315            90             180
  72  StoveKnob       0.673          0.899          -1.237         315            90             180
  73  Toaster         0.984          0.900          0.329          0              270            0
  74  Window          0.014          0.998          -2.640         90             0              0
  75  Window          -2.996         0.998          -2.640         90             0              0
  76  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  77  GarbageCan      -0.946         -0.036         0.575          0              180            0
  78  SinkBasin       -0.698         0.765          -0.647         0              90             0
  79  Microwave       1.042          1.680          -1.295         0              270            0
  80  Fridge          0.966          0.0            1.253          0              0              0
  81  HousePlant      -1.354         0.919          -1.540         0              0              0
  82  Shelf           -1.635         0.172          2.715          0              180            0
  83  Shelf           -1.635         0.552          2.715          0              180            0
  84  Shelf           -1.635         0.880          2.715          0              180            0
  85  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  86  Chair           -1.832         0.002          -0.034         0              119.999        0
  87  Chair           -1.854         0.002          -0.956         0              67.887         0
  88  Faucet          -0.867         1.161          -0.651         0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn around then turn right move forward toward the fridge then turn right the turn left to face the kitchen counter. | STEP 2: Pick up the table knife on the left from the kitchen counter. | STEP 3: Carry the table knife and move to the right to reach the tomato on the kitchen counter. | STEP 4: Slice the tomato on the kitchen counter using the table knife. | STEP 5: Take table knife , turn to the right then left and face the kitchen counter. | STEP 6: Place knife next to the coffee maker on the kitchen counter. | STEP 7: Turn left, then turn to the right and face the kitchen counter | STEP 8: Pick up a slice of tomato | STEP 9: Take the slice of tomato turn around turn to the right then right again to face the fridge. | STEP 10: Open the fridge door, place sliced tomato onto the shelf in the fridge, close fridge door. | STEP 11: Open fridge door, take out sliced tomato from the shelf inside the fridge, close fridge door. Turn right toward the coffee maker then left and face the coffee maker on the kitchen counter. | STEP 12: Place sliced tomato onto kitchen counter next to the knife near the coffee maker. | END