Task: Slice a tomato on the black table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          -2.0           0              180            0
   1  Pan             -3.553         0.758          -3.460         0              334.125        0              76
   2  Potato          -0.818         0.845          -3.510         0              315            0              69
   3  Potato          -0.252         1.318          -0.646         0              270            0              70
   4  DishSponge      -0.469         0.080          -2.624         0              0              0              53
   5  Spatula         -0.509         0.765          -2.632         0              270            0              45
   6  Cup             -3.364         0.895          -0.462         0              270            0              77
   7  Cup             -0.175         1.938          -1.002         0              0              0              48
   8  Plate           -3.822         0.774          -2.904         0              334.125        0              76
   9  Plate           -0.785         0.094          -3.393         0              45             0              55
  10  SoapBottle      -4.242         0.688          -0.491         0              0              0              75
  11  Tomato          -0.394         0.992          -1.406         0              0              0              58
  12  Tomato          -3.565         0.945          -0.548         0              270            0              77
  13  Bread           -3.565         0.976          -0.290         0              270            0              77
  14  Lettuce         -0.321         1.579          -0.413         0              270            0              70
  15  PepperShaker    -0.173         1.498          -1.369         0              0              0              51
  16  Mug             -3.364         0.889          -0.290         0              270            0              77
  17  Apple           -0.359         1.550          -0.994         0              270            0              70
  18  Apple           -4.002         0.751          -0.430         0              0              0              75
  19  SoapBottle      -1.471         0.940          -3.517         0              0              0              40
  20  Pot             -0.606         0.802          -3.419         0              315            0              69
  21  Fork            -0.211         0.942          -2.986         0              45             0              40
  22  Cup             -0.552         0.942          -1.406         0              0              0              58
  23  Tomato          -3.882         0.741          -0.187         0              0              0              75
  24  Pan             -0.222         0.961          -1.845         0              180            0              42
  25  Plate           -2.962         0.908          -0.462         0              270            0              77
  26  Bread           -2.560         0.976          -0.204         0              270            0              77
  27  Spatula         -2.761         0.909          -0.376         0              180            0              77
  28  Knife           -0.315         0.966          -1.362         0              180            0              58
  29  SaltShaker      -3.342         0.756          -3.185         0              244.125        0              76
  30  PepperShaker    -3.148         0.756          -3.230         0              244.125        0              76
  31  ButterKnife     -3.942         0.690          -0.309         0              90             0              75
  32  Apple           -3.361         0.821          -3.711         0              334.125        0              76
  33  DishSponge      -0.252         1.941          -0.713         0              0              0              47
  34  Potato          -0.397         1.520          -0.878         0              270            0              70
  35  Egg             -0.334         1.327          -0.878         0              270            0              70
  36  Spoon           -4.002         0.692          -0.248         0              0              0              75
  37  Lettuce         -4.182         0.781          -0.187         0              0              0              75
  38  Mug             -0.167         1.574          -1.884         0              270            0              72
  39  Bowl            -0.417         1.284          -0.994         0              270            0              70
  40  CounterTop      -1.937         0.977          -3.673         0              0              0
  41  StoveBurner     -0.437         0.924          -1.845         0              180            0
  42  StoveBurner     -0.222         0.924          -1.845         0              180            0
  43  StoveBurner     -0.437         0.924          -2.243         0              0              0
  44  Drawer          -0.500         0.779          -1.450         0              0              0
  45  Drawer          -0.481         0.777          -2.739         0              0              0
  46  Drawer          -1.154         0.782          -3.499         0              0              0
  47  Cabinet         -0.337         2.110          -0.390         0              0              0
  48  Cabinet         -0.337         2.110          -1.272         0              0              0
  49  Cabinet         -0.337         2.110          -1.631         0              0              0
  50  Cabinet         -0.337         2.110          -2.497         0              0              0
  51  Cabinet         -0.337         1.891          -1.286         0              0              0
  52  Cabinet         -0.346         1.891          -3.293         0              0              0
  53  Cabinet         -0.629         0.388          -2.513         0              0              0
  54  Cabinet         -0.633         0.388          -3.008         0              0              0
  55  Cabinet         -1.010         0.388          -3.368         0              0              0
  56  Cabinet         -0.629         0.388          -1.614         0              0              0
  57  Cabinet         -0.327         1.886          -2.513         0              0              0
  58  CounterTop      -0.326         0.976          -1.450         0              0              0
  59  StoveBurner     -0.222         0.924          -2.243         0              0              0
  60  Sink            -0.600         0.929          -3.388         0              0              0
  61  StoveKnob       -0.617         0.899          -1.833         315            90             180
  62  StoveKnob       -0.617         0.899          -2.129         315            90             180
  63  StoveKnob       -0.617         0.899          -2.289         315            90             180
  64  StoveKnob       -0.617         0.899          -1.975         315            90             180
  65  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  66  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  67  Window          -1.389         1.610          -4.113         90             0              0
  68  LightSwitch     -4.372         1.493          -1.031         0              90             0
  69  SinkBasin       -0.614         0.802          -3.384         0              315            0
  70  Fridge          -0.314         0.0            -0.646         0              0              0
  71  Toaster         -1.970         0.930          -3.763         0              0              0
  72  Microwave       -0.216         1.470          -2.054         0              270            0
  73  Blinds          -1.373         2.205          -3.961         0              0              0
  74  Faucet          -0.393         0.930          -3.614         270            225            0
  75  SideTable       -4.030         0.002          -0.301         0              185.034        0
  76  DiningTable     -3.586         0.000          -3.258         0              0              0
  77  DiningTable     -3.224         -0.003         -0.453         0              0              0
  78  Shelf           -4.030         0.259          -0.301         0              185.034        0
  79  Shelf           -4.030         0.489          -0.301         0              185.034        0
  80  EastWall
  81  EastWall
  82  SouthWall

Plan:
STEP 1: Turn right and go towards the door, then turn right again to go to the black table and look downward. | STEP 2: Pick up the butter knife on the black table. | STEP 3: Look upward to view the tomato on the black table. | STEP 4: Slice the tomato on the black table. | END