Task: Put a pan with a tomato in it on a 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          -2.5           0              90             0
   1  Potato          -0.334         1.318          -0.762         0              270            0              73
   2  DishSponge      -3.882         0.690          -0.248         0              0              0              78
   3  ButterKnife     -2.359         0.894          -0.462         0              270            0              80
   4  ButterKnife     -0.321         0.942          -2.552         0              0              0              43
   5  Pot             -3.527         0.761          -2.861         0              199.125        0              79
   6  Spatula         -0.236         0.956          -1.538         0              0              0              61
   7  Plate           -4.062         0.704          -0.430         0              0              0              78
   8  Plate           -4.037         0.774          -3.522         0              244.125        0              79
   9  Knife           -2.962         0.920          -0.462         0              270            0              80
  10  Tomato          -1.694         0.993          -3.829         0              0              0              43
  11  Tomato          -2.359         0.945          -0.119         0              270            0              80
  12  Tomato          -2.962         0.945          -0.204         0              270            0              80
  13  Bread           -3.565         0.976          -0.633         0              270            0              80
  14  Lettuce         -1.471         1.033          -3.751         0              0              0              43
  15  Lettuce         -2.359         0.985          -0.290         0              270            0              80
  16  SaltShaker      -0.096         1.498          -2.612         0              0              0              53
  17  SaltShaker      -3.364         0.890          -0.462         0              270            0              80
  18  PepperShaker    -0.440         0.747          -2.685         0              0              0              48
  19  PepperShaker    -2.560         0.890          -0.633         0              270            0              80
  20  Mug             -0.167         1.570          -1.937         0              270            0              75
  21  Apple           -4.062         0.751          -0.126         0              0              0              78
  22  SoapBottle      -4.242         0.688          -0.369         0              0              0              78
  23  Pot             -0.222         0.961          -1.845         0              180            0              45
  24  Fork            -4.002         0.691          -0.187         0              180            0              78
  25  Cup             -0.359         1.489          -0.878         0              270            0              73
  26  Tomato          -2.761         0.945          -0.376         0              270            0              80
  27  Pan             -0.222         0.961          -2.243         0              0              0              62
  28  Plate           -1.151         0.095          -3.532         0              0              0              58
  29  Bread           -3.553         0.841          -3.460         0              334.125        0              79
  30  Spatula         -1.248         0.957          -3.829         0              0              0              43
  31  Knife           -2.962         0.920          -0.290         0              0              0              80
  32  SaltShaker      -0.436         0.743          -1.525         0              0              0              47
  33  PepperShaker    -2.139         0.938          -3.439         0              0              0              43
  34  ButterKnife     -0.237         0.942          -2.960         0              45             0              43
  35  Apple           -2.387         0.161          -3.472         0              0              0              68
  36  DishSponge      -0.465         0.081          -1.529         0              0              0              59
  37  Potato          -4.242         0.722          -0.248         0              0              0              78
  38  Egg             -0.293         1.327          -0.878         0              270            0              73
  39  Spoon           -0.644         0.814          -3.337         0              315            0              72
  40  Lettuce         -0.359         1.579          -0.646         0              270            0              73
  41  Mug             -2.560         0.889          -0.204         0              270            0              80
  42  Bowl            -3.364         0.892          -0.290         0              270            0              80
  43  CounterTop      -1.937         0.977          -3.673         0              0              0
  44  StoveBurner     -0.437         0.924          -1.845         0              180            0
  45  StoveBurner     -0.222         0.924          -1.845         0              180            0
  46  StoveBurner     -0.437         0.924          -2.243         0              0              0
  47  Drawer          -0.500         0.779          -1.450         0              0              0
  48  Drawer          -0.481         0.777          -2.739         0              0              0
  49  Drawer          -1.154         0.782          -3.499         0              0              0
  50  Cabinet         -0.337         2.110          -0.390         0              0              0
  51  Cabinet         -0.337         2.110          -1.272         0              0              0
  52  Cabinet         -0.337         2.110          -1.631         0              0              0
  53  Cabinet         -0.337         2.110          -2.497         0              0              0
  54  Cabinet         -0.337         1.891          -1.286         0              0              0
  55  Cabinet         -0.346         1.891          -3.293         0              0              0
  56  Cabinet         -0.629         0.388          -2.513         0              0              0
  57  Cabinet         -0.633         0.388          -3.008         0              0              0
  58  Cabinet         -1.010         0.388          -3.368         0              0              0
  59  Cabinet         -0.629         0.388          -1.614         0              0              0
  60  Cabinet         -0.327         1.886          -2.513         0              0              0
  61  CounterTop      -0.326         0.976          -1.450         0              0              0
  62  StoveBurner     -0.222         0.924          -2.243         0              0              0
  63  Sink            -0.600         0.929          -3.388         0              0              0
  64  StoveKnob       -0.617         0.899          -1.833         315            90             180
  65  StoveKnob       -0.617         0.899          -2.129         315            90             180
  66  StoveKnob       -0.617         0.899          -2.289         315            90             180
  67  StoveKnob       -0.617         0.899          -1.975         315            90             180
  68  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  69  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  70  Window          -1.389         1.610          -4.113         90             0              0
  71  LightSwitch     -4.372         1.493          -1.031         0              90             0
  72  SinkBasin       -0.614         0.802          -3.384         0              315            0
  73  Fridge          -0.314         0.0            -0.646         0              0              0
  74  Toaster         -1.970         0.930          -3.763         0              0              0
  75  Microwave       -0.216         1.470          -2.054         0              270            0
  76  Blinds          -1.373         2.205          -3.961         0              0              0
  77  Faucet          -0.393         0.930          -3.614         270            225            0
  78  SideTable       -4.030         0.002          -0.301         0              185.034        0
  79  DiningTable     -3.586         0.000          -3.258         0              0              0
  80  DiningTable     -3.224         -0.003         -0.453         0              0              0
  81  Shelf           -4.030         0.259          -0.301         0              185.034        0
  82  Shelf           -4.030         0.489          -0.301         0              185.034        0
  83  EastWall
  84  EastWall
  85  SouthWall

Plan:
STEP 1: Turn around, go forward, turn right at the white rectangular table, go to the table. | STEP 2: Take the large knife pointing towards the bowl and salt on the table. | STEP 3: Cut the left tomato on the table into slices. | STEP 4: Move backwards a step from the table, face the table. | STEP 5: Put the knife on the table. | STEP 6: Move forward to the table. | STEP 7: Take a slice of tomato from the table. | STEP 8: Turn around, go forward, turn left and go forward to the oven. | STEP 9: Put the tomato in the pan on the right of the stove top. | STEP 10: Take the right pan from the stove top. | STEP 11: Turn around, go forward, turn left at the round black table. | STEP 12: Put the pan behind the pot on the table. | END