Task: To put a tomato in a pan on the counter plus cut it into slices.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.899          3.5            0              180            0
   1  ButterKnife     -0.488         0.925          4.615          0              0              0              55
   2  ButterKnife     -0.411         0.925          4.944          0              0              0              55
   3  WineBottle      -0.181         0.926          4.944          0              0              0              55
   4  Pot             -3.494         0.924          5.259          0              90             0              70
   5  Pot             -0.258         0.926          5.273          0              90             0              55
   6  Cup             -1.777         0.922          1.8            0              0              0              52
   7  Cup             -4.121         0.789          3.347          0              270            0              102
   8  Egg             -3.639         0.104          6.457          0              270            0              96
   9  Egg             -3.784         0.104          6.498          0              270            0              96
  10  Knife           -3.852         0.953          5.259          0              90             0              70
  11  SoapBottle      -3.251         0.082          2.004          0              90             0              45
  12  Bowl            -0.259         1.332          3.231          0              270            0              103
  13  Bowl            -4.093         0.074          2.246          0              0              0              80
  14  PepperShaker    -4.154         0.743          4.510          0              90             0              77
  15  Bread           -4.26          1.003          5.159          0              90             0              70
  16  Mug             -0.409         0.955          6.557          0              270            0              91
  17  Mug             -2.026         0.918          1.648          0              270            0              52
  18  Apple           -1.610         0.976          1.724          0              0              0              52
  19  Apple           -0.342         1.389          3.479          0              270            0              103
  20  Egg             -4.233         0.826          3.472          0              270            0              102
  21  Apple           -4.271         0.844          3.159          0              270            0              102
  22  Knife           -1.860         0.953          1.875          0              0              0              52
  23  Potato          -4.233         0.824          3.285          0              270            0              102
  24  Fork            -4.102         0.924          2.300          0              0              0              70
  25  Bowl            -0.301         1.682          3.975          0              270            0              103
  26  Plate           -0.301         1.336          3.974          0              270            0              103
  27  Lettuce         -4.191         1.003          2.538          0              278.173        0              70
  28  Bread           -3.859         1.003          1.875          0              0              0              70
  29  Tomato          -0.334         0.982          5.932          0              0              0              55
  30  WineBottle      -3.675         0.069          6.292          0              270            0              96
  31  Spatula         -4.411         0.938          4.122          0              180            0              70
  32  PaperTowelRoll  -1.860         1.027          1.724          0              0              0              52
  33  Cup             -0.242         1.069          3.479          0              270            0              103
  34  Pencil          -1.860         0.923          1.951          0              0              0              68
  35  Pan             -2.467         0.930          2.012          0              0              0              58
  36  Pot             -2.924         0.930          1.712          0              180            0              67
  37  SaltShaker      -0.285         2.130          3.740          0              180            0              79
  38  SoapBottle      -1.777         0.923          1.648          0              0              0              52
  39  PepperShaker    -0.443         0.743          6.333          0              270            0              90
  40  ButterKnife     -0.411         0.925          5.603          0              0              0              55
  41  DishSponge      -3.125         0.079          5.116          0              90             0              48
  42  Spoon           -4.233         0.792          3.097          0              180            0              102
  43  Mug             -2.635         1.541          1.601          0              90             0              100
  44  Cabinet         -3.203         1.931          1.777          0              0              0
  45  Cabinet         -3.187         0.390          2.089          0              0              0
  46  Cabinet         -0.637         0.387          6.882          0              180            0
  47  Drawer          -3.797         0.781          1.961          0              0              0
  48  Cabinet         -3.036         0.387          5.029          0              90             0
  49  Drawer          -0.509         0.775          5.268          0              270            0
  50  Drawer          -4.125         0.798          2.499          0              0              0
  51  Cabinet         -0.331         2.249          4.308          0              180            0
  52  CounterTop      -1.872         0.958          1.799          0              0              0
  53  StoveBurner     -2.924         0.924          2.012          0              0              0
  54  Cabinet         -0.331         2.249          6.806          0              180            0
  55  CounterTop      -0.345         0.960          5.603          0              0              0
  56  Cabinet         -3.039         1.935          5.321          0              90             0
  57  Cabinet         -3.922         0.397          2.088          0              0              0
  58  StoveBurner     -2.467         0.924          2.012          0              0              0
  59  Cabinet         -0.331         2.249          5.505          0              180            0
  60  Drawer          -0.509         0.775          4.617          0              270            0
  61  Drawer          -3.509         0.777          5.157          0              180            0
  62  Cabinet         -3.961         0.388          2.878          0              0              0
  63  Cabinet         -3.961         0.388          4.342          0              0              0
  64  Cabinet         -0.637         0.387          5.582          0              180            0
  65  Cabinet         -0.637         0.388          4.299          0              180            0
  66  Cabinet         -0.637         0.388          5.599          0              180            0
  67  StoveBurner     -2.924         0.924          1.712          0              180            0
  68  Drawer          -1.859         0.775          1.961          0              0              0
  69  Cabinet         -0.331         2.249          5.609          0              180            0
  70  CounterTop      -4.260         0.958          4.943          0              90             0
  71  Cabinet         -4.284         1.931          2.226          0              0              0
  72  Cabinet         -0.331         2.249          3.010          0              180            0
  73  Drawer          -3.801         0.777          5.157          0              180            0
  74  Cabinet         -4.112         1.935          5.321          0              90             0
  75  Cabinet         -3.968         0.388          3.662          0              0              0
  76  Drawer          -3.418         0.777          1.961          0              0              0
  77  Drawer          -4.090         0.777          4.661          0              90             0
  78  Faucet          -4.441         0.909          3.288          270            0              0
  79  Cabinet         -0.331         2.249          4.207          0              180            0
  80  Cabinet         -3.961         0.388          2.119          0              0              0
  81  Drawer          -0.509         0.775          5.920          0              270            0
  82  Drawer          -3.193         0.777          5.157          0              180            0
  83  Cabinet         -3.968         0.388          2.894          0              0              0
  84  Cabinet         -3.667         0.387          5.029          0              90             0
  85  StoveBurner     -2.469         0.924          1.712          0              270            0
  86  Cabinet         -1.539         0.388          2.090          0              0              0
  87  Sink            -4.190         0.921          3.279          0              0              0
  88  Cabinet         -3.641         0.387          5.029          0              90             0
  89  Cabinet         -1.583         1.931          1.777          0              0              0
  90  Drawer          -0.509         0.775          6.568          0              270            0
  91  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  92  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  93  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  96  GarbageCan      -3.711         -0.030         6.376          0              270            0
  97  Toaster         -3.578         0.912          1.763          0              0              0
  98  Curtains        -4.522         2.252          3.391          90             90             0
  99  Window          -4.868         1.629          3.309          90             270            0
 100  Microwave       -2.693         1.430          1.689          0              0              0
 101  LightSwitch     -1.588         1.169          1.506          0              0              0
 102  SinkBasin       -4.196         0.780          3.276          0              270            0
 103  Fridge          -0.324         -0.001         3.602          0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Walk forward to face the stove. | STEP 2: Pick up the pan on the front of the stove. | STEP 3: Turn around and step forward and turn left to face the counter. | STEP 4: Place the pan on the counter. | STEP 5: Take a step to the left to face the sink. | STEP 6: Pick up the tomato in the sink. | STEP 7: Take a step to the right to face the pan on the counter. | STEP 8: Place the tomato on the pan on the counter. | STEP 9: Turn right to face the knife on the counter. | STEP 10: Pick up the knife on the counter. | STEP 11: Turn to the left to face the Pan. | STEP 12: Cut the tomato in the pan into slices. | END