Task: drop a tomato slice with a knife inside a pan

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          -0.5           0              180            0
   1  Potato          -0.877         1.531          0.119          0              90             0              74
   2  Potato          -0.877         1.531          -0.110         0              90             0              74
   3  ButterKnife     1.362          0.937          0.940          0              0              0              47
   4  Fork            -1.126         0.938          1.076          0              0              0              67
   5  Fork            1.310          0.747          0.780          0              90             0              72
   6  Spoon           -0.689         0.747          0.847          0              270            0              65
   7  Spoon           1.409          0.945          1.840          0              0              0              69
   8  Spatula         1.275          0.761          0.848          0              90             0              72
   9  Egg             -1.112         1.534          0.195          0              90             0              74
  10  Cup             1.285          0.936          2.597          0              0              0              47
  11  Cup             1.430          0.080          2.321          0              0              0              51
  12  Plate           -1.078         1.506          0.887          0              0              0              53
  13  Knife           -0.896         0.768          0.779          0              90             0              65
  14  Tomato          -0.877         1.380          0.119          0              90             0              74
  15  Bowl            1.456          0.941          1.673          0              180            0              69
  16  SaltShaker      1.787          0.934          1.458          0              0              0              47
  17  SaltShaker      -1.211         0.934          2.310          0              0              0              42
  18  PepperShaker    -1.039         1.498          1.083          0              0              0              53
  19  PepperShaker    -1.043         0.934          1.154          0              0              0              67
  20  Apple           1.523          0.119          2.847          0              90             0              80
  21  Lettuce         -1.126         1.028          0.765          0              0              0              67
  22  SoapBottle      -0.791         0.083          0.704          0              0              0              54
  23  Bread           -0.922         0.990          2.266          0              302.910        0              42
  24  Fork            -1.131         0.929          2.232          354.680        1.556          0              42
  25  Tomato          -0.710         0.999          1.154          0              0              0              67
  26  Bowl            1.700          1.944          1.410          0              0              0              60
  27  Pot             -1.109         0.930          1.470          0              0              0              44
  28  Spatula         1.592          0.952          0.806          0              0              0              47
  29  Knife           -0.723         0.768          2.517          0              270            0              43
  30  SaltShaker      -0.884         0.078          2.385          0              0              0              63
  31  Apple           1.285          0.987          2.118          0              0              0              47
  32  PepperShaker    -0.712         0.934          2.462          0              0              0              43
  33  ButterKnife     -0.960         0.937          0.998          0              0              0              67
  34  Potato          1.439          0.970          2.118          0              0              0              47
  35  Plate           1.382          0.105          0.070          0              0              0              52
  36  DishSponge      1.597          0.944          1.756          0              180            0              69
  37  Egg             1.390          0.105          2.879          0              0              0              80
  38  Cup             1.314          0.080          0.848          0              0              0              68
  39  Pan             -1.109         0.930          1.865          0              0              0              66
  40  Spoon           1.362          0.939          0.940          0              0              0              47
  41  Mug             1.528          1.002          2.345          0              270            0              47
  42  CounterTop      -0.973         0.973          2.386          0              0              0
  43  Drawer          -0.783         0.774          2.381          0              180            0
  44  StoveBurner     -1.108         0.922          1.470          0              0              0
  45  Drawer          1.370          0.774          2.391          0              0              0
  46  Stool           -0.748         0.008          3.116          0              0              0
  47  CounterTop      1.504          0.973          2.309          0              0              0
  48  Cabinet         1.219          1.388          0.591          0              0              0
  49  Cabinet         1.500          2.113          1.164          0              0              0
  50  Cabinet         1.219          2.010          0.591          0              0              0
  51  Cabinet         1.219          0.388          2.105          0              0              0
  52  Cabinet         1.219          0.553          0.591          0              0              0
  53  Cabinet         -0.913         2.113          1.164          0              0              0
  54  Cabinet         -0.633         0.388          0.627          0              0              0
  55  Cabinet         -0.913         2.050          -0.329         0              0              0
  56  Cabinet         -0.913         2.113          0.583          0              0              0
  57  Cabinet         -0.913         2.113          2.082          0              0              0
  58  Cabinet         -0.913         2.113          1.207          0              0              0
  59  Cabinet         1.500          2.113          2.082          0              0              0
  60  Cabinet         1.500          2.113          1.207          0              0              0
  61  Cabinet         1.500          1.810          2.691          0              0              0
  62  Cabinet         1.500          1.810          2.101          0              0              0
  63  Cabinet         -0.633         0.388          2.105          0              0              0
  64  Cabinet         -0.911         1.810          2.700          0              180            0
  65  Drawer          -0.783         0.774          0.915          0              180            0
  66  StoveBurner     -1.108         0.922          1.865          0              0              0
  67  CounterTop      -0.972         0.973          0.921          0              0              0
  68  Cabinet         1.219          0.388          0.631          0              0              0
  69  Sink            1.544          0.869          1.639          0              180            0
  70  StoveBurner     -0.832         0.922          1.865          0              0              0
  71  StoveBurner     -0.831         0.922          1.470          0              0              0
  72  Drawer          1.370          0.774          0.916          0              0              0
  73  Cabinet         -0.911         1.810          2.111          0              180            0
  74  Fridge          -1.001         0.0            0.119          0              0              0
  75  StoveKnob       -0.648         0.926          1.923          0              270            0
  76  StoveKnob       -0.648         0.926          1.363          0              270            0
  77  StoveKnob       -0.648         0.926          1.513          0              270            0
  78  StoveKnob       -0.648         0.926          1.763          0              270            0
  79  Toaster         -1.002         0.926          2.561          0              90             0
  80  GarbageCan      1.451          -0.029         2.912          0              0              0
  81  Microwave       1.632          1.480          1.645          0              270            0
  82  Window          0.224          1.601          3.509          90             0              0
  83  CoffeeMachine   1.692          0.926          2.453          0              270            0
  84  SinkBasin       1.461          0.833          1.369          0              180            0
  85  LightSwitch     0.451          1.412          -1.674         0              0              0
  86  Faucet          1.707          0.925          1.363          0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: turn right and head for the gas | STEP 2: pick up a knife at the left of the gas | STEP 3: move right towards the tomato on the table | STEP 4: slice the tomato with the knife | STEP 5: move right towards the gas | STEP 6: place the knife on the pan on the gas | STEP 7: pick up the pan  | STEP 8: head for the left side of the gas | STEP 9: drop the pan on  the left side of the gas | STEP 10: move to the right side of the gas | STEP 11: pick up a slice of the tomato | STEP 12: move left towards the  pan | STEP 13: drop the tomato slice in the pan | END