Task: Cutting a tomato into slices while it's in 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           -3.75          0.900          -1.0           0              90             0
   1  Potato          -2.485         0.131          -3.571         0              0              0              69
   2  Potato          -2.419         0.131          -3.472         0              0              0              69
   3  ButterKnife     -4.002         0.690          -0.491         0              0              0              79
   4  Pot             -3.578         0.761          -3.007         0              199.125        0              80
   5  Pot             -3.230         0.761          -3.061         0              244.125        0              80
   6  Fork            -2.560         0.895          -0.548         0              270            0              81
   7  Fork            -3.612         0.760          -3.486         0              289.125        0              80
   8  Spoon           -3.882         0.691          -0.430         0              90             0              79
   9  Egg             -0.268         1.616          -1.937         0              270            0              76
  10  Cup             -0.359         1.489          -0.878         0              270            0              74
  11  SoapBottle      -3.364         0.892          -0.462         0              270            0              81
  12  Tomato          -0.283         1.539          -0.529         0              270            0              74
  13  Tomato          -3.364         0.945          -0.290         0              270            0              81
  14  Bread           -3.429         0.841          -3.572         0              334.125        0              80
  15  Lettuce         -2.560         0.985          -0.462         0              270            0              81
  16  Lettuce         -3.780         0.851          -3.591         0              199.125        0              80
  17  SaltShaker      -3.942         0.687          -0.430         0              0              0              79
  18  SaltShaker      -0.240         1.935          -2.338         0              0              0              54
  19  PepperShaker    -0.555         1.500          -3.620         0              45             0              56
  20  PepperShaker    -0.579         0.078          -1.330         0              0              0              60
  21  Mug             -0.134         1.570          -1.937         0              0              0              76
  22  Mug             -2.514         0.972          -3.649         0              0              0              70
  23  SoapBottle      -3.565         0.892          -0.119         0              270            0              81
  24  Pot             -0.437         0.961          -1.845         0              180            0              45
  25  Fork            -0.473         0.942          -2.906         0              0              0              44
  26  Cup             -4.002         0.691          -0.187         0              0              0              79
  27  Tomato          -3.163         0.945          -0.204         0              270            0              81
  28  Pan             -0.217         0.958          -2.215         0              45             0              63
  29  Plate           -0.173         1.516          -3.052         0              0              0              61
  30  Bread           -2.984         0.956          -0.311         0              50.592         0              81
  31  Spatula         -1.471         0.957          -3.439         0              0              0              44
  32  Knife           -1.248         0.967          -3.751         0              0              0              44
  33  SaltShaker      -2.560         0.890          -0.119         0              270            0              81
  34  PepperShaker    -4.002         0.686          -0.309         0              0              0              79
  35  ButterKnife     -0.605         0.813          -3.376         0              315            0              73
  36  Apple           -3.872         0.821          -3.101         0              109.125        0              80
  37  DishSponge      -4.037         0.759          -3.522         0              244.125        0              80
  38  Potato          -3.163         0.926          -0.633         0              270            0              81
  39  Egg             -4.122         0.732          -0.369         0              0              0              79
  40  Spoon           -2.962         0.895          -0.548         0              270            0              81
  41  Lettuce         -0.359         1.579          -0.297         0              270            0              74
  42  Mug             -3.822         0.755          -2.904         0              334.125        0              80
  43  Bowl            -0.994         0.940          -3.733         0              45             0              44
  44  CounterTop      -1.937         0.977          -3.673         0              0              0
  45  StoveBurner     -0.437         0.924          -1.845         0              180            0
  46  StoveBurner     -0.222         0.924          -1.845         0              180            0
  47  StoveBurner     -0.437         0.924          -2.243         0              0              0
  48  Drawer          -0.500         0.779          -1.450         0              0              0
  49  Drawer          -0.481         0.777          -2.739         0              0              0
  50  Drawer          -1.154         0.782          -3.499         0              0              0
  51  Cabinet         -0.337         2.110          -0.390         0              0              0
  52  Cabinet         -0.337         2.110          -1.272         0              0              0
  53  Cabinet         -0.337         2.110          -1.631         0              0              0
  54  Cabinet         -0.337         2.110          -2.497         0              0              0
  55  Cabinet         -0.337         1.891          -1.286         0              0              0
  56  Cabinet         -0.346         1.891          -3.293         0              0              0
  57  Cabinet         -0.629         0.388          -2.513         0              0              0
  58  Cabinet         -0.633         0.388          -3.008         0              0              0
  59  Cabinet         -1.010         0.388          -3.368         0              0              0
  60  Cabinet         -0.629         0.388          -1.614         0              0              0
  61  Cabinet         -0.327         1.886          -2.513         0              0              0
  62  CounterTop      -0.326         0.976          -1.450         0              0              0
  63  StoveBurner     -0.222         0.924          -2.243         0              0              0
  64  Sink            -0.600         0.929          -3.388         0              0              0
  65  StoveKnob       -0.617         0.899          -1.833         315            90             180
  66  StoveKnob       -0.617         0.899          -2.129         315            90             180
  67  StoveKnob       -0.617         0.899          -2.289         315            90             180
  68  StoveKnob       -0.617         0.899          -1.975         315            90             180
  69  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  70  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  71  Window          -1.389         1.610          -4.113         90             0              0
  72  LightSwitch     -4.372         1.493          -1.031         0              90             0
  73  SinkBasin       -0.614         0.802          -3.384         0              315            0
  74  Fridge          -0.314         0.0            -0.646         0              0              0
  75  Toaster         -1.970         0.930          -3.763         0              0              0
  76  Microwave       -0.216         1.470          -2.054         0              270            0
  77  Blinds          -1.373         2.205          -3.961         0              0              0
  78  Faucet          -0.393         0.930          -3.614         270            225            0
  79  SideTable       -4.030         0.002          -0.301         0              185.034        0
  80  DiningTable     -3.586         0.000          -3.258         0              0              0
  81  DiningTable     -3.224         -0.003         -0.453         0              0              0
  82  Shelf           -4.030         0.259          -0.301         0              185.034        0
  83  Shelf           -4.030         0.489          -0.301         0              185.034        0
  84  EastWall
  85  EastWall
  86  SouthWall

Plan:
STEP 1: Head to the oven | STEP 2: Grab the pan that's on the bottom right stove | STEP 3: Move slightly to the left | STEP 4: Put the pan on the counter to the left of the stove | STEP 5: Turn left and go to the fridge | STEP 6: Grab the tomato that's in the fridge | STEP 7: Turn right and stop at the counter | STEP 8: Put the tomato in the pan on the counter | STEP 9: Turn right and go to the counter to the right of the sink | STEP 10: Grab the knife off of the counter | STEP 11: Turn around and go to the counter to the left of the stove | STEP 12: Cut the tomato in the pan into slices | END