Task: Putting a pan with a knife and sliced tomato on a counter

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          -2.25          0              180            0
   1  Pan             -3.565         0.892          -0.204         0              0              0              84
   2  Potato          -3.898         0.792          -3.455         0              244.125        0              83
   3  DishSponge      -0.202         1.938          -1.739         0              0              0              56
   4  ButterKnife     -3.175         0.760          -3.174         0              244.125        0              83
   5  ButterKnife     -0.473         0.942          -2.670         0              0              0              47
   6  Fork            -3.364         0.895          -0.376         0              270            0              84
   7  Fork            -0.285         0.942          -2.853         0              315            0              47
   8  Spoon           -4.182         0.692          -0.248         0              90             0              82
   9  Spoon           -0.577         0.752          -2.685         0              90             0              52
  10  Spatula         -0.168         0.957          -2.729         0              0              0              47
  11  Spatula         -2.761         0.909          -0.290         0              270            0              84
  12  Egg             -3.699         0.801          -3.016         0              334.125        0              83
  13  Egg             -0.234         1.620          -1.831         0              270            0              79
  14  Cup             -0.214         1.938          -1.162         0              0              0              55
  15  Cup             -4.122         0.691          -0.430         0              0              0              82
  16  Knife           -2.962         0.920          -0.462         0              270            0              84
  17  Knife           -2.359         0.920          -0.462         0              0              0              84
  18  Tomato          -0.293         1.337          -0.413         0              270            0              77
  19  Tomato          -3.882         0.741          -0.430         0              0              0              82
  20  Bread           -3.460         0.841          -3.048         0              199.125        0              83
  21  Bread           -2.560         0.976          -0.548         0              270            0              84
  22  Lettuce         -4.062         0.782          -0.187         0              0              0              82
  23  Mug             -0.252         1.281          -0.762         0              270            0              77
  24  Apple           -3.496         0.821          -3.433         0              334.125        0              83
  25  Apple           -0.283         1.550          -0.297         0              270            0              77
  26  SoapBottle      -3.350         0.758          -3.480         0              109.125        0              83
  27  Pot             -0.222         0.961          -1.845         0              180            0              49
  28  Fork            -4.002         0.691          -0.430         0              0              0              82
  29  Cup             -0.417         1.287          -0.529         0              270            0              77
  30  Tomato          -0.321         1.539          -0.646         0              270            0              77
  31  Pan             -3.163         0.892          -0.376         0              180            0              84
  32  Plate           -0.164         1.953          -2.285         0              0              0              57
  33  Bread           -3.565         0.976          -0.633         0              270            0              84
  34  Spatula         -2.359         0.909          -0.290         0              270            0              84
  35  Knife           -3.766         0.785          -2.877         0              334.125        0              83
  36  SaltShaker      -0.440         0.747          -2.792         0              0              0              52
  37  PepperShaker    -3.952         0.756          -3.342         0              244.125        0              83
  38  ButterKnife     -0.244         0.942          -2.611         0              0              0              47
  39  Apple           -0.397         1.550          -0.762         0              270            0              77
  40  DishSponge      -3.163         0.894          -0.633         0              270            0              84
  41  Potato          -0.134         1.611          -2.043         0              270            0              79
  42  Egg             -4.242         0.732          -0.308         0              0              0              82
  43  Spoon           -4.002         0.691          -0.248         0              180            0              82
  44  Lettuce         -3.662         0.851          -3.632         0              199.125        0              83
  45  Mug             -2.514         0.972          -3.649         0              0              0              73
  46  Bowl            -3.893         0.758          -3.160         0              109.125        0              83
  47  CounterTop      -1.937         0.977          -3.673         0              0              0
  48  StoveBurner     -0.437         0.924          -1.845         0              180            0
  49  StoveBurner     -0.222         0.924          -1.845         0              180            0
  50  StoveBurner     -0.437         0.924          -2.243         0              0              0
  51  Drawer          -0.500         0.779          -1.450         0              0              0
  52  Drawer          -0.481         0.777          -2.739         0              0              0
  53  Drawer          -1.154         0.782          -3.499         0              0              0
  54  Cabinet         -0.337         2.110          -0.390         0              0              0
  55  Cabinet         -0.337         2.110          -1.272         0              0              0
  56  Cabinet         -0.337         2.110          -1.631         0              0              0
  57  Cabinet         -0.337         2.110          -2.497         0              0              0
  58  Cabinet         -0.337         1.891          -1.286         0              0              0
  59  Cabinet         -0.346         1.891          -3.293         0              0              0
  60  Cabinet         -0.629         0.388          -2.513         0              0              0
  61  Cabinet         -0.633         0.388          -3.008         0              0              0
  62  Cabinet         -1.010         0.388          -3.368         0              0              0
  63  Cabinet         -0.629         0.388          -1.614         0              0              0
  64  Cabinet         -0.327         1.886          -2.513         0              0              0
  65  CounterTop      -0.326         0.976          -1.450         0              0              0
  66  StoveBurner     -0.222         0.924          -2.243         0              0              0
  67  Sink            -0.600         0.929          -3.388         0              0              0
  68  StoveKnob       -0.617         0.899          -1.833         315            90             180
  69  StoveKnob       -0.617         0.899          -2.129         315            90             180
  70  StoveKnob       -0.617         0.899          -2.289         315            90             180
  71  StoveKnob       -0.617         0.899          -1.975         315            90             180
  72  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  73  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  74  Window          -1.389         1.610          -4.113         90             0              0
  75  LightSwitch     -4.372         1.493          -1.031         0              90             0
  76  SinkBasin       -0.614         0.802          -3.384         0              315            0
  77  Fridge          -0.314         0.0            -0.646         0              0              0
  78  Toaster         -1.970         0.930          -3.763         0              0              0
  79  Microwave       -0.216         1.470          -2.054         0              270            0
  80  Blinds          -1.373         2.205          -3.961         0              0              0
  81  Faucet          -0.393         0.930          -3.614         270            225            0
  82  SideTable       -4.030         0.002          -0.301         0              185.034        0
  83  DiningTable     -3.586         0.000          -3.258         0              0              0
  84  DiningTable     -3.224         -0.003         -0.453         0              0              0
  85  Shelf           -4.030         0.259          -0.301         0              185.034        0
  86  Shelf           -4.030         0.489          -0.301         0              185.034        0
  87  EastWall
  88  EastWall
  89  SouthWall

Plan:
STEP 1: Turn right and go to the small black table | STEP 2: Grab the tomato off of the table | STEP 3: Turn right and stop at the left of the white table | STEP 4: Put the tomato on the pan on the table | STEP 5: Turn right and stop at the right of the white table | STEP 6: Grab the large knife off of the table | STEP 7: Move slightly to the left | STEP 8: Cut the tomato in the pan into slices | STEP 9: Put the knife in the pan | STEP 10: Grab the pan off of the table | STEP 11: Turn right and go to the counter to the left of the oven | STEP 12: Put the pan on the counter | END