Task: put a slice of tomato on a pan onto 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           -1.25          0.900          3.25           0              90             0
   1  Potato          1.966          1.550          5.501          0              270            0              80
   2  DishSponge      0.305          0.759          6.479          0              270            0              94
   3  DishSponge      -0.487         0.759          6.807          0              135            0              94
   4  ButterKnife     1.493          0.992          3.511          0              0              0              58
   5  ButterKnife     1.225          0.992          3.137          0              0              0              58
   6  Spoon           0.150          0.761          6.416          0              270            0              94
   7  Spatula         1.332          0.906          2.422          0              180            0              81
   8  Spatula         0.923          1.007          0.212          0              90             0              58
   9  Fork            1.348          0.772          3.360          0              0              0              51
  10  Fork            -0.221         0.760          6.941          0              0              0              94
  11  Egg             1.857          0.130          6.498          0              0              0              82
  12  Egg             -0.574         0.810          6.240          0              225            0              94
  13  Cup             2.051          1.511          5.251          0              270            0              80
  14  Cup             -0.762         0.988          0.303          0              0              0              58
  15  Tomato          2.137          1.565          5.376          0              270            0              80
  16  Tomato          2.051          1.565          6.001          0              270            0              80
  17  Tomato          -0.399         0.809          6.895          0              135            0              94
  18  Bowl            -0.344         0.143          0.353          0              0              0              66
  19  PepperShaker    -0.308         0.987          0.578          0              0              0              58
  20  SaltShaker      0.028          0.755          6.632          0              0              0              94
  21  Apple           2.104          0.155          6.409          0              0              0              82
  22  Apple           -0.611         1.067          0.303          0              0              0              58
  23  Bowl            1.495          2.206          4.131          0              0              0              46
  24  Bread           -0.096         0.829          6.787          0              0              0              94
  25  Egg             1.276          0.940          1.983          0              90             0              81
  26  Knife           -0.034         0.789          6.478          0              270            0              94
  27  Fork            -0.291         0.760          6.612          0              315            0              94
  28  Apple           0.273          1.171          0.213          0              0              0              74
  29  Kettle          1.225          0.993          1.350          0              0              0              58
  30  Plate           0.055          0.144          0.429          0              0              0              67
  31  SaltShaker      -0.308         0.987          0.486          0              0              0              58
  32  Lettuce         1.493          1.081          3.324          0              0              0              58
  33  SoapBottle      1.400          0.141          4.802          0              90             0              60
  34  Spatula         0.124          0.786          0.563          0              0              0              55
  35  PaperTowelRoll  1.135          1.096          4.716          0              0              0              59
  36  Pot             0.734          0.981          0.38           0              0              0              58
  37  Potato          1.332          0.931          2.137          0              270            0              81
  38  ButterKnife     -0.687         0.992          0.395          0              0              0              58
  39  PepperShaker    -0.378         0.755          6.698          0              135            0              94
  40  Pan             1.32           0.988          3.848          0              0              0              57
  41  Tomato          2.051          1.565          5.876          0              270            0              80
  42  DishSponge      -0.762         0.992          0.486          0              0              0              58
  43  Cup             1.966          1.511          5.376          0              270            0              80
  44  Spoon           0.192          0.772          0.396          0              0              0              55
  45  Mug             1.571          0.136          4.647          0              0              0              60
  46  Cabinet         1.307          2.455          4.360          0              0              0
  47  Cabinet         1.054          0.422          1.710          0              0              0
  48  Drawer          1.280          0.808          4.718          0              0              0
  49  Cabinet         1.307          2.455          3.607          0              0              0
  50  Drawer          0.736          0.802          0.521          0              0              0
  51  Drawer          1.276          0.802          3.291          0              0              0
  52  StoveBurner     1.562          0.982          3.848          0              0              0
  53  StoveBurner     1.317          0.982          4.294          0              0              0
  54  Drawer          -0.482         0.802          0.521          0              0              0
  55  Drawer          0.124          0.802          0.521          0              0              0
  56  StoveBurner     1.559          0.982          4.294          0              0              0
  57  StoveBurner     1.320          0.982          3.848          0              0              0
  58  CounterTop      1.391          1.028          0.897          0              0              0
  59  CounterTop      1.391          1.028          4.716          0              0              0
  60  Cabinet         1.054          0.422          4.548          0              0              0
  61  Cabinet         1.317          2.134          0.517          0              0              0
  62  Cabinet         1.317          2.134          4.889          0              0              0
  63  Cabinet         1.317          2.134          3.095          0              0              0
  64  Cabinet         0.443          0.422          0.743          0              0              0
  65  Cabinet         1.270          2.134          0.434          0              0              0
  66  Cabinet         -0.775         0.422          0.743          0              0              0
  67  Cabinet         -0.168         0.422          0.743          0              0              0
  68  Cabinet         1.317          2.134          1.534          0              0              0
  69  Cabinet         1.054          0.422          2.990          0              0              0
  70  Cabinet         1.054          0.422          2.944          0              0              0
  71  Cabinet         -0.263         2.134          0.434          0              0              0
  72  Cabinet         0.252          2.134          0.434          0              0              0
  73  Sink            1.391          1.006          2.326          0              0              0
  74  Microwave       0.108          0.981          0.262          0              0              0
  75  HousePlant      -0.165         0.826          6.444          0              0              0
  76  CoffeeMachine   1.551          0.982          0.953          0              270            0
  77  Toaster         1.473          0.981          4.715          0              270            0
  78  Window          -2.065         1.916          3.626          90             90             0
  79  Window          1.763          2.007          2.299          90             270            0
  80  Fridge          2.035          0.0            5.625          0              0              0
  81  SinkBasin       1.387          0.880          2.338          0              90             0
  82  GarbageCan      2.001          -0.044         6.503          0              0              0
  83  StoveKnob       1.140          0.934          3.987          45             270            0
  84  StoveKnob       1.140          0.934          4.309          45             270            0
  85  StoveKnob       1.140          0.934          4.140          45             270            0
  86  StoveKnob       1.140          0.934          3.824          45             270            0
  87  Vase            -0.226         0.834          6.993          0              0              0
  88  Vase            2.098          0.043          7.070          0              257.232        0
  89  Vase            -0.594         0.835          6.130          0              225            0
  90  LightSwitch     -2.0           1.549          6.045          0              90             0
  91  Safe            2.046          1.072          7.054          0              257.232        0
  92  Faucet          1.534          1.025          2.371          0              294.391        0
  93  Blinds          1.738          2.563          2.312          0              90             0
  94  DiningTable     -0.156         0.000          6.474          0              0              0
  95  Chair           0.291          0.002          6.142          0              310.162        0
  96  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: turn to the left go to the right | STEP 2: pick up the tomato from the black table | STEP 3: turn left go right left again facing the black table  | STEP 4: put the tomato on top of the table | STEP 5: pick up the knife from the table  | STEP 6: slice the tomato in 2 pieces | STEP 7: cut 1 half into many pieces | STEP 8: pick up one piece of the tomato | STEP 9: turn to the right go left face the stove | STEP 10: put the piece of tomato in the pan that is on the stove | STEP 11: pick up the pan from the stove | STEP 12: turn to the left across the room | STEP 13: put the pan on top of the black table | END