Task: place a pan with a tomato slice inside down on the kitchen table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          -0.25          0              90             0
   1  Potato          -0.427         0.100          0.525          0              90             0              76
   2  DishSponge      -0.196         0.772          -1.505         0              0              0              50
   3  DishSponge      1.724          0.911          0.375          0              0              0              62
   4  ButterKnife     0.649          0.919          -1.715         0              270            0              45
   5  Pot             1.361          0.962          0.561          0              270            0              52
   6  Fork            1.535          0.912          -1.820         0              0              0              47
   7  Spoon           0.035          0.913          0.375          0              0              0              46
   8  Spatula         1.846          0.927          0.292          0              0              0              62
   9  Spatula         0.701          0.934          -1.649         0              270            0              45
  10  Egg             -0.975         1.050          -1.704         0              0              0              69
  11  Egg             -0.394         0.105          0.655          0              90             0              76
  12  Cup             -0.719         1.327          -1.809         0              180            0              41
  13  Plate           -0.538         0.111          -1.508         0              0              0              61
  14  Tomato          0.035          0.961          0.209          0              0              0              46
  15  SaltShaker      1.717          0.104          0.236          0              0              0              55
  16  PepperShaker    0.387          0.106          0.308          0              0              0              58
  17  Apple           -2.135         0.847          -1.806         0              0              0              77
  18  Bread           1.299          0.978          -1.532         0              0              0              47
  19  Knife           1.165          0.906          -1.656         90             285.000        0              47
  20  Fork            0.498          0.773          0.305          0              0              0              43
  21  Bowl            0.856          0.918          -1.582         0              270            0              45
  22  Kettle          1.658          0.913          -1.489         0              0              0              47
  23  Cup             -2.135         0.509          -1.677         0              0              0              77
  24  Tomato          1.846          0.961          0.540          0              0              0              62
  25  SoapBottle      -0.394         0.068          0.439          0              90             0              76
  26  Plate           -0.110         0.900          -1.596         0              0              0              47
  27  Pot             1.007          0.962          0.561          0              270            0              49
  28  Spatula         1.785          0.927          0.540          0              0              0              62
  29  PaperTowelRoll  0.167          1.016          0.458          0              0              0              46
  30  Egg             -1.079         1.050          -1.737         0              0              0              69
  31  Lettuce         -2.047         1.142          -1.763         0              0              0              77
  32  SaltShaker      -0.096         0.908          0.292          0              0              0              46
  33  PepperShaker    -0.079         0.102          0.320          0              0              0              57
  34  Apple           -0.329         0.137          0.569          0              90             0              76
  35  ButterKnife     1.781          0.912          -1.820         0              0              0              47
  36  Potato          -0.872         1.045          -1.737         0              0              0              69
  37  Pan             -2.135         1.492          -1.763         0              90             0              77
  38  DishSponge      1.846          0.911          0.209          0              0              0              62
  39  Spoon           -0.494         0.773          -1.473         0              270            0              51
  40  Mug             0.960          0.914          -1.782         0              270            0              45
  41  Cabinet         -0.193         1.688          -1.648         0              180            0
  42  StoveBurner     1.360          0.957          0.293          0              180            0
  43  Drawer          0.499          0.792          0.296          0              0              0
  44  Cabinet         0.095          0.400          -1.352         0              180            0
  45  Sink            0.711          0.817          -1.772         0              270            0
  46  CounterTop      0.280          0.947          0.458          0              0              0
  47  CounterTop      -0.680         0.947          -1.654         0              0              0
  48  Drawer          1.825          0.792          0.296          0              0              0
  49  StoveBurner     1.007          0.957          0.561          0              270            0
  50  Drawer          -0.150         0.792          -1.496         0              0              0
  51  Drawer          -0.586         0.792          -1.496         0              0              0
  52  StoveBurner     1.360          0.957          0.561          0              270            0
  53  Drawer          0.024          0.792          0.296          0              0              0
  54  Cabinet         1.079          0.400          -1.349         0              180            0
  55  Cabinet         1.669          0.402          0.151          0              0              0
  56  Cabinet         0.055          0.402          -1.351         0              0              0
  57  Cabinet         -0.180         0.402          0.151          0              0              0
  58  Cabinet         0.729          0.402          0.151          0              0              0
  59  StoveBurner     1.007          0.957          0.293          0              180            0
  60  Drawer          -1.100         0.792          -1.496         0              0              0
  61  Cabinet         -0.396         0.402          -1.351         0              0              0
  62  CounterTop      1.776          0.947          0.458          0              0              0
  63  Cabinet         1.974          1.688          -1.648         0              180            0
  64  Cabinet         -0.820         0.400          -1.349         0              180            0
  65  Toaster         0.305          0.900          0.552          0              180            0
  66  LightSwitch     -2.756         1.307          -0.987         0              90             0
  67  Window          0.582          1.613          -1.967         90             0              0
  68  Window          1.969          1.5            -0.615         90             270            0
  69  Microwave       -1.037         0.900          -1.723         0              0              0
  70  SinkBasin       0.377          0.765          -1.655         0              270            0
  71  CoffeeMachine   0.618          0.900          0.600          0              180            0
  72  StoveKnob       1.246          0.913          0.118          45             180            0
  73  StoveKnob       1.373          0.913          0.118          45             180            0
  74  StoveKnob       0.995          0.913          0.118          45             180            0
  75  StoveKnob       1.126          0.913          0.118          45             180            0
  76  GarbageCan      -0.368         -0.029         0.539          0              90             0
  77  Fridge          -2.134         0.0            -1.690         0              0              0
  78  Faucet          0.549          1.046          -1.833         0              232.527        0
  79  Stool           -1.475         0.000          0.414          1.233          280.375        0
  80  DiningTable     -2.255         -0.004         0.432          0              0              0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: walk forwards to the end of the room, then turn right and walk over to the kitchen counter ahead | STEP 2: grab the butter knife off of the counter there | STEP 3: turn around and walk forwards to the kitchen counter | STEP 4: chop up the tomato on top of the counter | STEP 5: place the butter knife down on top of the sponge on the left | STEP 6: grab a tomato slice off of the counter | STEP 7: turn left and walk over to the left side of the stove on the right | STEP 8: place the tomato slice in the pan on the stove on the back left burner | STEP 9: grab the pan off of the burner | STEP 10: turn left and walk forwards to the end of the room, then turn right to face the kitchen table there | STEP 11: place the pan down on the kitchen table there | END