Task: Cut a slice of tomato and prepare 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          -1.75          0              0              0
   1  Glassbottle     -2.438         0.924          -2.115         0              0              0              82
   2  Pencil          -2.552         0.923          -1.884         0              0              0              82
   3  Pen             -2.552         0.926          -1.423         0              0              0              82
   4  Pen             -1.943         0.029          -3.727         0              0              0              73
   5  Potato          -0.447         0.828          -2.155         0              270            0              75
   6  WineBottle      -2.552         0.924          -2.115         0              0              0              82
   7  WineBottle      -2.324         0.924          -2.345         0              0              0              82
   8  Spatula         -2.780         0.938          -1.654         0              270            0              82
   9  Fork            -0.671         0.916          -3.839         0              0              0              57
  10  Cup             -0.222         0.914          -3.368         0              0              0              57
  11  Cup             -0.228         1.689          -0.455         0              270            0              74
  12  Egg             -2.552         0.956          -2.345         0              0              0              82
  13  Tomato          -2.210         0.987          -1.654         0              0              0              82
  14  Tomato          -0.308         1.754          -0.979         0              270            0              74
  15  Tomato          -0.392         1.454          -0.874         0              270            0              74
  16  Bowl            -0.457         0.914          -3.555         0              0              0              57
  17  Bowl            -1.048         1.968          -3.851         0              0              0              58
  18  Lettuce         -0.528         1.008          -3.839         0              0              0              57
  19  Lettuce         -2.780         1.016          -2.115         0              0              0              82
  20  Bread           -0.295         1.151          -0.770         0              270            0              74
  21  SaltShaker      -0.815         0.912          -3.555         0              0              0              57
  22  SaltShaker      -0.778         0.743          -3.556         0              0              0              56
  23  PepperShaker    -0.186         1.524          -3.125         0              0              0              69
  24  Mug             -0.254         0.792          -2.082         0              90             0              75
  25  Mug             -0.351         0.962          -3.144         0              270            0              71
  26  Apple           -0.246         1.172          -1.084         0              270            0              74
  27  Apple           -2.006         0.100          -3.727         0              0              0              73
  28  Lettuce         -2.562         1.002          -1.677         36.385         0              0              82
  29  Glassbottle     -0.343         0.081          -3.299         0              0              0              63
  30  Egg             -2.210         0.956          -1.884         0              0              0              82
  31  Pen             -2.096         0.926          -1.884         0              0              0              82
  32  Fork            -0.295         0.788          -1.858         0              0              0              75
  33  SoapBottle      -2.324         0.922          -1.884         0              0              0              82
  34  Pencil          -2.438         0.923          -2.345         0              0              0              82
  35  WineBottle      -2.096         0.924          -2.115         0              0              0              82
  36  Spatula         -2.438         0.938          -1.884         0              90             0              82
  37  Bread           -0.343         1.443          -0.665         0              270            0              74
  38  Tomato          -2.666         0.987          -1.193         0              0              0              82
  39  Pan             -1.129         0.935          -3.498         0              0              0              55
  40  Cup             -2.438         0.922          -0.963         0              0              0              82
  41  Pot             -1.515         0.935          -3.497         0              0              0              54
  42  SaltShaker      -0.420         0.743          -3.297         0              0              0              68
  43  Potato          -0.343         1.130          -0.979         0              270            0              74
  44  PepperShaker    -2.438         0.919          -1.423         0              0              0              82
  45  ButterKnife     -2.552         0.923          -1.193         0              0              0              82
  46  DishSponge      -1.206         1.969          -3.890         0              0              0              58
  47  Spoon           -0.350         0.798          -2.008         0              0              0              75
  48  Plate           -0.363         1.533          -3.706         0              45             0              65
  49  Knife           -0.293         0.938          -3.570         0              0              0              57
  50  Mug             -0.222         0.910          -3.771         0              0              0              57
  51  Bowl            -2.780         0.922          -1.423         0              0              0              82
  52  Cabinet         -0.582         0.388          -1.804         0              0              0
  53  StoveBurner     -1.515         0.928          -3.752         0              90             0
  54  StoveBurner     -1.515         0.928          -3.497         0              0              0
  55  StoveBurner     -1.129         0.928          -3.498         0              0              0
  56  Drawer          -0.749         0.779          -3.551         0              0              0
  57  CounterTop      -0.303         0.951          -2.793         0              0              0
  58  Cabinet         -0.883         2.140          -3.687         0              0              0
  59  Cabinet         -0.312         2.140          -1.543         0              0              0
  60  Sink            -0.349         0.907          -2.014         0              0              0
  61  Cabinet         -0.877         0.388          -3.422         0              0              0
  62  Cabinet         -0.582         0.388          -2.197         0              0              0
  63  Cabinet         -0.584         0.388          -3.396         0              0              0
  64  Cabinet         -0.312         2.140          -2.481         0              0              0
  65  Cabinet         -0.330         1.921          -3.390         0              0              0
  66  Cabinet         -1.764         2.140          -3.687         0              0              0
  67  StoveBurner     -1.129         0.928          -3.752         0              90             0
  68  Drawer          -0.454         0.779          -3.268         0              0              0
  69  Cabinet         -0.302         1.916          -2.501         0              0              0
  70  Microwave       -1.317         1.517          -3.801         0              1.440          0
  71  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  72  LightSwitch     -4.323         1.319          0.0            0              180            0
  73  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  74  Fridge          -0.330         0.0            -0.769         0              270            0
  75  SinkBasin       -0.350         0.786          -2.018         0              270            0
  76  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  77  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  78  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  79  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  80  Toaster         -0.181         0.903          -2.764         0              270            0
  81  Window          -2.503         1.782          -4.185         90             180            0
  82  DiningTable     -2.432         0.000          -1.694         0              270            0
  83  Shelf           -2.432         0.150          -1.694         0              270            0
  84  Blinds          -2.536         2.699          -3.959         0              0              0
  85  Faucet          -0.079         0.904          -2.034         270            180            0
  86  Chair           -3.264         0.002          -2.094         0              53.280         0
  87  Chair           -3.240         0.002          -1.253         0              117.257        0
  88  Shelf           -2.432         0.523          -1.694         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: turn right and stop at the green table top | STEP 2: pick up the knife to the left of the tomato | STEP 3: turn left, then right and come around to face the front of the green table | STEP 4: slice the tomato directly in front of the lettuce | STEP 5: turn around, then turn right to face the stove top | STEP 6: place the knife on the pan on the left lower corner of the stove top | STEP 7: turn around, then turn left toward the green table | STEP 8: pick up a slice of tomato | STEP 9: turn around, then turn right and walk toward the stove top | STEP 10: place the slice in the pan next to the knife | STEP 11: pick up the pan on the stove top | STEP 12: go back to the green table | STEP 13: put the pan on the table to the right of the salt | END