Task: Putting a pan with a knife and tomato slice in it on the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          -0.75          0              90             0
   1  Potato          -0.946         0.232          0.282          0              90             0              77
   2  Potato          -0.976         0.598          -0.110         0              90             0              77
   3  DishSponge      -1.113         1.949          1.924          0              0              0              60
   4  ButterKnife     1.344          0.746          2.459          0              90             0              48
   5  ButterKnife     -1.126         0.937          1.076          0              0              0              70
   6  Fork            1.310          0.747          0.916          0              90             0              75
   7  Fork            -0.960         0.938          0.843          0              90             0              70
   8  Spatula         -0.792         0.761          0.914          0              270            0              68
   9  Egg             -0.821         0.600          -0.110         0              90             0              77
  10  Cup             1.746          0.936          1.007          0              0              0              50
  11  Cup             1.619          1.595          1.598          0              270            0              84
  12  Plate           1.380          1.751          0.066          0              0              0              53
  13  Plate           1.391          0.086          2.251          0              0              0              54
  14  Knife           1.275          0.768          0.848          0              90             0              75
  15  SoapBottle      1.390          0.069          2.945          0              0              0              83
  16  SoapBottle      -1.209         0.937          0.921          0              0              0              70
  17  Bowl            -0.804         0.078          2.385          0              0              0              66
  18  Bowl            -0.971         1.495          0.118          0              90             0              77
  19  SaltShaker      -1.211         0.934          2.386          0              0              0              45
  20  Mug             -1.211         0.932          2.159          0              0              0              45
  21  Mug             -0.877         1.314          0.272          0              90             0              77
  22  Apple           1.285          0.987          2.118          0              0              0              50
  23  Apple           -1.043         0.987          0.998          0              0              0              70
  24  Lettuce         1.458          1.014          1.673          3.688          58.888         358.228        72
  25  SoapBottle      1.523          0.069          2.945          0              0              0              83
  26  Bread           -0.923         0.990          2.265          0              302.470        0              45
  27  Fork            -0.689         0.747          2.449          0              270            0              46
  28  Tomato          -0.937         0.627          0.272          0              90             0              77
  29  Bowl            -0.893         0.196          -0.044         0              90             0              77
  30  Pot             -1.109         0.930          1.470          0              0              0              47
  31  Spatula         1.379          0.761          0.780          0              90             0              75
  32  Knife           -0.689         0.768          1.050          0              270            0              68
  33  SaltShaker      1.787          0.934          1.566          0              0              0              50
  34  Apple           -0.710         0.987          1.076          0              0              0              70
  35  PepperShaker    -1.078         1.498          1.018          0              0              0              56
  36  ButterKnife     -0.876         0.937          1.154          0              0              0              70
  37  Potato          -1.012         0.847          0.348          0              90             0              77
  38  Plate           -1.076         1.832          0.356          0              0              0              59
  39  DishSponge      1.409          0.936          1.797          0              180            1.212          72
  40  Egg             1.652          1.631          1.808          0              270            0              84
  41  Cup             1.388          0.842          1.369          0              180            0              87
  42  Pan             -1.109         0.930          1.865          0              0              0              69
  43  Spoon           1.379          0.747          2.459          0              90             0              48
  44  Mug             -1.018         1.314          0.118          0              90             0              77
  45  CounterTop      -0.973         0.973          2.386          0              0              0
  46  Drawer          -0.783         0.774          2.381          0              180            0
  47  StoveBurner     -1.108         0.922          1.470          0              0              0
  48  Drawer          1.370          0.774          2.391          0              0              0
  49  Stool           -0.748         0.008          3.116          0              0              0
  50  CounterTop      1.504          0.973          2.309          0              0              0
  51  Cabinet         1.219          1.388          0.591          0              0              0
  52  Cabinet         1.500          2.113          1.164          0              0              0
  53  Cabinet         1.219          2.010          0.591          0              0              0
  54  Cabinet         1.219          0.388          2.105          0              0              0
  55  Cabinet         1.219          0.553          0.591          0              0              0
  56  Cabinet         -0.913         2.113          1.164          0              0              0
  57  Cabinet         -0.633         0.388          0.627          0              0              0
  58  Cabinet         -0.913         2.050          -0.329         0              0              0
  59  Cabinet         -0.913         2.113          0.583          0              0              0
  60  Cabinet         -0.913         2.113          2.082          0              0              0
  61  Cabinet         -0.913         2.113          1.207          0              0              0
  62  Cabinet         1.500          2.113          2.082          0              0              0
  63  Cabinet         1.500          2.113          1.207          0              0              0
  64  Cabinet         1.500          1.810          2.691          0              0              0
  65  Cabinet         1.500          1.810          2.101          0              0              0
  66  Cabinet         -0.633         0.388          2.105          0              0              0
  67  Cabinet         -0.911         1.810          2.700          0              180            0
  68  Drawer          -0.783         0.774          0.915          0              180            0
  69  StoveBurner     -1.108         0.922          1.865          0              0              0
  70  CounterTop      -0.972         0.973          0.921          0              0              0
  71  Cabinet         1.219          0.388          0.631          0              0              0
  72  Sink            1.544          0.869          1.639          0              180            0
  73  StoveBurner     -0.832         0.922          1.865          0              0              0
  74  StoveBurner     -0.831         0.922          1.470          0              0              0
  75  Drawer          1.370          0.774          0.916          0              0              0
  76  Cabinet         -0.911         1.810          2.111          0              180            0
  77  Fridge          -1.001         0.0            0.119          0              0              0
  78  StoveKnob       -0.648         0.926          1.923          0              270            0
  79  StoveKnob       -0.648         0.926          1.363          0              270            0
  80  StoveKnob       -0.648         0.926          1.513          0              270            0
  81  StoveKnob       -0.648         0.926          1.763          0              270            0
  82  Toaster         -1.002         0.926          2.561          0              90             0
  83  GarbageCan      1.451          -0.029         2.912          0              0              0
  84  Microwave       1.632          1.480          1.645          0              270            0
  85  Window          0.224          1.601          3.509          90             0              0
  86  CoffeeMachine   1.692          0.926          2.453          0              270            0
  87  SinkBasin       1.461          0.833          1.369          0              180            0
  88  LightSwitch     0.451          1.412          -1.674         0              0              0
  89  Faucet          1.707          0.925          1.363          0              270            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn left and stop at the counter to the left of the stove | STEP 2: Grab the knife that is on the counter | STEP 3: Turn left and stop at the fridge | STEP 4: Open the bottom door of the fridge and cut the tomato in the fridge in slices Close the door | STEP 5: Turn right and stop at the oven | STEP 6: Place the knife in the pan on the top right stove | STEP 7: Turn left and head to the fridge | STEP 8: Open the  bottom door of the fridge and grab one of the tomato slices. Close the door | STEP 9: Turn right and head to the oven | STEP 10: Put the tomato in the pan in the top right stove | STEP 11: Grab the pan with the knife and tomato in it | STEP 12: Turn slightly left and stop at the counter | STEP 13: Place the pan down on the counter | END