Task: Slice and fry a tomato 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           -1.5           0.900          1.25           0              270            0
   1  Pan             1.562          0.988          3.848          0              0              0              47
   2  Potato          2.051          1.550          5.251          0              270            0              75
   3  DishSponge      0.192          0.771          0.396          0              0              0              50
   4  ButterKnife     1.387          0.890          2.034          0              180            0              76
   5  ButterKnife     -0.687         0.992          0.395          0              0              0              53
   6  Spoon           1.225          0.993          3.044          0              0              0              53
   7  Spatula         1.332          0.906          2.474          0              180            0              76
   8  Spatula         1.332          0.905          1.983          0              180            0              76
   9  Fork            -0.079         0.772          0.618          0              270            0              50
  10  Egg             2.137          1.565          5.751          0              270            0              75
  11  Knife           0.305          0.789          6.541          0              270            0              89
  12  Tomato          1.582          1.042          0.213          0              0              0              53
  13  PepperShaker    -0.003         0.755          6.291          0              90             0              89
  14  SaltShaker      0.305          0.755          6.604          0              270            0              89
  15  SaltShaker      -0.611         0.987          0.303          0              0              0              53
  16  Lettuce         -0.399         0.848          6.895          0              135            0              89
  17  Apple           1.403          1.067          0.213          0              0              0              53
  18  Bowl            1.490          0.139          3.439          0              0              0              64
  19  Bread           1.099          1.048          0.434          0              0              0              53
  20  Egg             2.094          1.565          6.001          0              270            0              75
  21  Knife           0.600          0.802          0.451          0              90             0              45
  22  Fork            0.192          0.772          0.618          0              270            0              50
  23  Apple           2.051          1.590          5.626          0              270            0              75
  24  Kettle          1.32           0.988          3.848          0              0              0              52
  25  Plate           1.403          0.993          3.324          0              0              0              53
  26  SaltShaker      -0.013         1.574          0.207          0              0              0              66
  27  Lettuce         0.256          0.848          6.240          0              135            0              89
  28  SoapBottle      -0.344         0.144          0.277          0              0              0              61
  29  Spatula         -0.535         1.007          0.120          0              90             0              53
  30  PaperTowelRoll  2.154          0.185          6.498          0              0              0              77
  31  Pot             1.317          0.988          4.294          0              0              0              48
  32  Potato          -0.003         0.794          6.416          0              270            0              89
  33  ButterKnife     -0.334         0.760          6.742          0              135            0              89
  34  PepperShaker    -0.611         0.987          0.486          0              0              0              53
  35  Pan             1.559          0.988          4.294          0              0              0              51
  36  Tomato          -0.400         0.809          6.503          0              225            0              89
  37  DishSponge      0.056          0.771          0.507          0              0              0              50
  38  Cup             0.440          1.575          0.207          0              0              0              67
  39  Spoon           1.493          0.993          1.350          0              0              0              53
  40  Mug             -0.034         0.755          6.014          0              90             0              89
  41  Cabinet         1.307          2.455          4.360          0              0              0
  42  Cabinet         1.054          0.422          1.710          0              0              0
  43  Drawer          1.280          0.808          4.718          0              0              0
  44  Cabinet         1.307          2.455          3.607          0              0              0
  45  Drawer          0.736          0.802          0.521          0              0              0
  46  Drawer          1.276          0.802          3.291          0              0              0
  47  StoveBurner     1.562          0.982          3.848          0              0              0
  48  StoveBurner     1.317          0.982          4.294          0              0              0
  49  Drawer          -0.482         0.802          0.521          0              0              0
  50  Drawer          0.124          0.802          0.521          0              0              0
  51  StoveBurner     1.559          0.982          4.294          0              0              0
  52  StoveBurner     1.320          0.982          3.848          0              0              0
  53  CounterTop      1.391          1.028          0.897          0              0              0
  54  CounterTop      1.391          1.028          4.716          0              0              0
  55  Cabinet         1.054          0.422          4.548          0              0              0
  56  Cabinet         1.317          2.134          0.517          0              0              0
  57  Cabinet         1.317          2.134          4.889          0              0              0
  58  Cabinet         1.317          2.134          3.095          0              0              0
  59  Cabinet         0.443          0.422          0.743          0              0              0
  60  Cabinet         1.270          2.134          0.434          0              0              0
  61  Cabinet         -0.775         0.422          0.743          0              0              0
  62  Cabinet         -0.168         0.422          0.743          0              0              0
  63  Cabinet         1.317          2.134          1.534          0              0              0
  64  Cabinet         1.054          0.422          2.990          0              0              0
  65  Cabinet         1.054          0.422          2.944          0              0              0
  66  Cabinet         -0.263         2.134          0.434          0              0              0
  67  Cabinet         0.252          2.134          0.434          0              0              0
  68  Sink            1.391          1.006          2.326          0              0              0
  69  Microwave       0.108          0.981          0.262          0              0              0
  70  HousePlant      -0.165         0.826          6.444          0              0              0
  71  CoffeeMachine   1.551          0.982          0.953          0              270            0
  72  Toaster         1.473          0.981          4.715          0              270            0
  73  Window          -2.065         1.916          3.626          90             90             0
  74  Window          1.763          2.007          2.299          90             270            0
  75  Fridge          2.035          0.0            5.625          0              0              0
  76  SinkBasin       1.387          0.880          2.338          0              90             0
  77  GarbageCan      2.001          -0.044         6.503          0              0              0
  78  StoveKnob       1.140          0.934          3.987          45             270            0
  79  StoveKnob       1.140          0.934          4.309          45             270            0
  80  StoveKnob       1.140          0.934          4.140          45             270            0
  81  StoveKnob       1.140          0.934          3.824          45             270            0
  82  Vase            -0.226         0.834          6.993          0              0              0
  83  Vase            2.098          0.043          7.070          0              257.232        0
  84  Vase            -0.594         0.835          6.130          0              225            0
  85  LightSwitch     -2.0           1.549          6.045          0              90             0
  86  Safe            2.046          1.072          7.054          0              257.232        0
  87  Faucet          1.534          1.025          2.371          0              294.391        0
  88  Blinds          1.738          2.563          2.312          0              90             0
  89  DiningTable     -0.156         0.000          6.474          0              0              0
  90  Chair           0.291          0.002          6.142          0              310.162        0
  91  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn right walk forward then turn right walk straight then left to face the black round table | STEP 2: Pick up the yellow handled knife from the table | STEP 3: Turn left move forward slightly the turn right and walk up to the other side if the kitchen table | STEP 4: Slice the tomato on the table | STEP 5: Turn right then forward then left to the other side of the kitchen table | STEP 6: Place the yellow knife on the table | STEP 7: Turn left move forward slightly the turn right and walk up to the other side if the kitchen table | STEP 8: Pick up a slice of the tomato on the table | STEP 9: Turn right and walk straight then turn left and walk up to the stove | STEP 10: Place the tomato on the back right pan on the stove | STEP 11: Pick up the pan with the tomato inside | STEP 12: Turn left and walk straight then face left at the black kitchen table | STEP 13: Place the pan on the kitchen table | END