Task: cut a tomato on small black shelves

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          -0.321         1.520          -0.297         0              270            0              67
   2  ButterKnife     -0.157         0.941          -1.538         0              0              0              55
   3  Pot             -3.163         0.895          -0.376         0              270            0              74
   4  Fork            -0.583         0.747          -1.450         0              90             0              41
   5  Fork            -0.315         0.941          -1.494         0              0              0              55
   6  Spoon           -2.962         0.895          -0.376         0              270            0              74
   7  Spoon           -0.237         0.943          -2.960         0              45             0              37
   8  Egg             -0.318         0.983          -2.937         0              45             0              37
   9  Cup             -3.287         0.760          -3.298         0              244.125        0              73
  10  Plate           -0.135         1.516          -2.876         0              0              0              54
  11  Plate           -0.283         1.502          -0.646         0              270            0              67
  12  Tomato          -3.598         0.810          -3.654         0              334.125        0              73
  13  Bread           -3.565         0.976          -0.290         0              270            0              74
  14  PepperShaker    -4.182         0.686          -0.248         0              0              0              72
  15  PepperShaker    -1.092         0.749          -3.447         0              0              0              43
  16  SoapBottle      -3.163         0.758          -3.413         0              109.125        0              73
  17  Pot             -0.222         0.961          -1.845         0              180            0              39
  18  Fork            -3.942         0.691          -0.430         0              0              0              72
  19  Cup             -0.376         1.287          -0.297         0              270            0              67
  20  Tomato          -4.062         0.742          -0.308         0              0              0              72
  21  Pan             -0.222         0.961          -2.243         0              0              0              56
  22  Plate           -0.465         0.096          -1.410         0              0              0              53
  23  Bread           -2.560         0.976          -0.548         0              270            0              74
  24  Spatula         -0.321         0.957          -2.729         0              0              0              37
  25  Knife           -0.372         0.777          -2.685         0              270            0              42
  26  SaltShaker      -0.126         1.935          -1.686         0              0              0              46
  27  PepperShaker    -1.471         0.938          -3.673         0              0              0              37
  28  ButterKnife     -2.359         0.894          -0.633         0              0              0              74
  29  Apple           -0.968         1.003          -3.759         0              45             0              37
  30  DishSponge      -3.369         0.759          -3.129         0              244.125        0              73
  31  Potato          -0.315         0.973          -1.406         0              0              0              55
  32  Egg             -0.473         0.983          -2.788         0              0              0              37
  33  Spoon           -4.002         0.691          -0.187         0              180            0              72
  34  Lettuce         -3.642         0.851          -2.989         0              334.125        0              73
  35  Mug             -1.060         0.937          -3.851         0              45             0              37
  36  Bowl            -2.359         0.892          -0.290         0              270            0              74
  37  CounterTop      -1.937         0.977          -3.673         0              0              0
  38  StoveBurner     -0.437         0.924          -1.845         0              180            0
  39  StoveBurner     -0.222         0.924          -1.845         0              180            0
  40  StoveBurner     -0.437         0.924          -2.243         0              0              0
  41  Drawer          -0.500         0.779          -1.450         0              0              0
  42  Drawer          -0.481         0.777          -2.739         0              0              0
  43  Drawer          -1.154         0.782          -3.499         0              0              0
  44  Cabinet         -0.337         2.110          -0.390         0              0              0
  45  Cabinet         -0.337         2.110          -1.272         0              0              0
  46  Cabinet         -0.337         2.110          -1.631         0              0              0
  47  Cabinet         -0.337         2.110          -2.497         0              0              0
  48  Cabinet         -0.337         1.891          -1.286         0              0              0
  49  Cabinet         -0.346         1.891          -3.293         0              0              0
  50  Cabinet         -0.629         0.388          -2.513         0              0              0
  51  Cabinet         -0.633         0.388          -3.008         0              0              0
  52  Cabinet         -1.010         0.388          -3.368         0              0              0
  53  Cabinet         -0.629         0.388          -1.614         0              0              0
  54  Cabinet         -0.327         1.886          -2.513         0              0              0
  55  CounterTop      -0.326         0.976          -1.450         0              0              0
  56  StoveBurner     -0.222         0.924          -2.243         0              0              0
  57  Sink            -0.600         0.929          -3.388         0              0              0
  58  StoveKnob       -0.617         0.899          -1.833         315            90             180
  59  StoveKnob       -0.617         0.899          -2.129         315            90             180
  60  StoveKnob       -0.617         0.899          -2.289         315            90             180
  61  StoveKnob       -0.617         0.899          -1.975         315            90             180
  62  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  63  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  64  Window          -1.389         1.610          -4.113         90             0              0
  65  LightSwitch     -4.372         1.493          -1.031         0              90             0
  66  SinkBasin       -0.614         0.802          -3.384         0              315            0
  67  Fridge          -0.314         0.0            -0.646         0              0              0
  68  Toaster         -1.970         0.930          -3.763         0              0              0
  69  Microwave       -0.216         1.470          -2.054         0              270            0
  70  Blinds          -1.373         2.205          -3.961         0              0              0
  71  Faucet          -0.393         0.930          -3.614         270            225            0
  72  SideTable       -4.030         0.002          -0.301         0              185.034        0
  73  DiningTable     -3.586         0.000          -3.258         0              0              0
  74  DiningTable     -3.224         -0.003         -0.453         0              0              0
  75  Shelf           -4.030         0.259          -0.301         0              185.034        0
  76  Shelf           -4.030         0.489          -0.301         0              185.034        0
  77  EastWall
  78  EastWall
  79  SouthWall

Plan:
STEP 1: walk to face right side of white table | STEP 2: pick up butter knife from table | STEP 3: walk to the left to face small black shelves to left of white table | STEP 4: cut tomato with knife | END