Task: Place green melon slice in round pan into refrigerator

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          1.25           0              180            0
   1  Potato          0.180          0.956          0.076          0              0              0              83
   2  Potato          1.466          0.942          -1.563         0              0              0              66
   3  DishSponge      1.872          0.086          0.006          0              0              0              67
   4  DishSponge      -0.697         0.111          -1.829         0              0              0              59
   5  ButterKnife     0.002          0.913          -1.737         0              0              0              66
   6  ButterKnife     0.066          0.930          0.305          0              0              0              83
   7  WineBottle      -1.036         0.914          -2.115         0              0              0              66
   8  Fork            2.009          0.914          -1.329         0              90             0              66
   9  Fork            0.522          0.927          1.220          0              0              0              83
  10  Egg             -1.572         1.558          -0.392         0              90             0              74
  11  Egg             -0.210         0.818          -2.161         0              0              0              78
  12  Cup             -1.553         0.859          -0.910         0              90             0              74
  13  Cup             -1.610         1.504          -0.495         0              90             0              74
  14  Plate           -1.316         1.663          -1.667         0              90             0              49
  15  Knife           -0.137         0.787          -2.026         0              0              0              78
  16  Knife           0.066          0.953          0.991          0              0              0              83
  17  Tomato          -0.047         0.978          0.305          0              0              0              83
  18  Tomato          -0.160         0.978          0.991          0              0              0              83
  19  SoapBottle      0.503          1.657          -2.162         0              0              0              55
  20  SoapBottle      1.913          1.656          -1.117         0              270            0              57
  21  Mug             -1.610         0.854          -0.392         0              90             0              74
  22  Apple           -1.380         1.254          -0.910         0              90             0              74
  23  Apple           -0.047         1.001          0.762          0              0              0              83
  24  Apple           1.738          0.984          -1.095         0              0              0              66
  25  Potato          -0.210         0.793          -1.936         0              0              0              78
  26  Bowl            1.528          1.656          -2.200         0              90             0              53
  27  SoapBottle      -0.576         0.110          -1.961         0              0              0              59
  28  Fork            -0.047         0.927          0.076          0              0              0              83
  29  Ladle           0.066          0.971          0.762          0              0              0              83
  30  Bread           0.399          0.964          0.110          0              0              1.601          83
  31  Lettuce         -1.429         0.925          -0.542         0              315            0              74
  32  WineBottle      1.985          1.658          -1.673         0              270            0              56
  33  Spatula         0.522          0.945          0.991          0              0              0              83
  34  Plate           0.294          0.934          0.762          0              0              0              83
  35  SaltShaker      -1.254         2.143          -1.275         0              90             0              50
  36  Pot             -0.117         0.921          1.5            0              0              0              83
  37  Cup             -0.064         0.764          -2.116         0              0              0              78
  38  PepperShaker    0.457          0.909          -2.252         0              0              0              66
  39  Pan             1.567          0.948          -0.355         0              0              0              62
  40  ButterKnife     0.408          0.926          0.534          0              0              0              83
  41  Tomato          -1.533         1.556          -0.910         0              90             0              74
  42  DishSponge      0.457          0.913          -2.085         0              0              0              66
  43  Egg             -0.160         0.980          0.076          0              0              0              83
  44  Spoon           0.235          0.914          -1.725         0              0              0              66
  45  Knife           0.180          0.953          1.448          0              0              0              83
  46  Mug             1.261          0.951          -1.934         0              0              0              76
  47  StoveBurner     1.845          0.940          -0.355         0              0              0
  48  StoveBurner     1.567          0.940          -0.757         0              0              0
  49  Cabinet         -1.149         2.019          -1.979         0              90             0
  50  Cabinet         -1.149         2.265          -0.834         0              90             0
  51  Cabinet         -0.459         2.265          -2.0           0              0              0
  52  Cabinet         -1.100         2.019          -2.0           0              0              0
  53  Cabinet         1.719          2.019          -2.0           0              0              0
  54  Cabinet         1.179          2.019          -2.0           0              0              0
  55  Cabinet         0.199          2.019          -2.0           0              0              0
  56  Cabinet         1.75           2.019          -1.399         0              270            0
  57  Cabinet         1.75           2.019          -1.029         0              270            0
  58  Cabinet         1.379          0.469          -1.689         0              0              0
  59  Cabinet         -0.819         0.469          -1.689         0              0              0
  60  Cabinet         1.389          0.469          -1.059         0              270            0
  61  Cabinet         -0.839         0.469          -1.665         0              90             0
  62  StoveBurner     1.567          0.940          -0.355         0              0              0
  63  StoveBurner     1.845          0.940          -0.757         0              0              0
  64  Sink            -0.109         0.893          -2.009         0              0              0
  65  Drawer          -0.819         0.75           -1.690         0              0              0
  66  CounterTop      0.232          0.949          -2.002         0              0              0
  67  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  68  Vase            0.251          0.546          0.475          0              270            0
  69  Toaster         0.780          0.900          -2.080         0              0              0
  70  LightSwitch     0.108          1.315          2.75           0              180            0
  71  Vase            0.400          0.925          0.218          0              180            0
  72  Microwave       -1.233         0.900          -1.680         0              90             0
  73  Vase            1.465          1.662          -2.200         0              0              0
  74  Fridge          -1.495         0.0            -0.703         0              0              0
  75  Window          2.114          1.495          1.072          90             270            0
  76  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  77  Vase            0.333          0.546          1.272          0              270            0
  78  SinkBasin       -0.148         0.753          -2.026         0              0              0
  79  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  81  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  82  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  83  DiningTable     0.170          0.005          0.678          0              270            0
  84  Shelf           0.170          0.155          0.678          0              270            0
  85  Shelf           1.605          0.172          2.480          0              0              0
  86  Shelf           1.605          0.552          2.480          0              0              0
  87  Shelf           1.604          0.880          2.479          0              0              0
  88  ShelvingUnit    1.605          0.006          2.480          0              0              0
  89  Faucet          -0.143         1.028          -2.223         0              270            0
  90  Stool           -0.553         0.000          0.871          1.233          280.376        0
  91  Shelf           0.170          0.528          0.678          0              270            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: go forward to sink to the right | STEP 2: pick up silver knife from in front of sink | STEP 3: go to refrigerator to the right | STEP 4: open refrigerator, slice green melon on second shelf | STEP 5: close refrigerator, open refrigerator | STEP 6: place knife on shelf next to green melon | STEP 7: close refrigerator, open refrigerator,  | STEP 8: pick up green melon slice from shelf, close refrigerator | STEP 9: turn around, go to left burner of stove | STEP 10: place melon slice in round pan on stove | STEP 11: pick up round pan from stove | STEP 12: turn around, go to refrigerator, open refrigerator | STEP 13: place pan with melon slice on top shelf of refrigerator to the right of orange object, close refrigerator | END