Task: To put a knife, tomato slice, as well as a pan into the fridge.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.901          1.5            0              0              0
   1  Pan             -2.480         0.900          2.177          0              0              0              73
   2  Spatula         -0.228         0.915          2.731          0              0              0              75
   3  Spatula         -1.878         0.677          0.519          0              270            0              55
   4  Spoon           -2.269         0.663          0.409          0              0              0              60
   5  Fork            -2.037         0.928          0.348          0              0              0              52
   6  Pot             -2.805         1.186          4.352          0              180            0              69
   7  Pot             -0.535         0.928          4.274          0              0              0              56
   8  Egg             -0.244         1.056          0.140          0              0              0              71
   9  Cup             -2.738         0.298          4.649          0              90             0              69
  10  Knife           -2.161         0.688          0.355          0              90             0              60
  11  SoapBottle      -2.995         0.900          1.913          0              0              0              73
  12  SoapBottle      -0.143         0.900          2.731          0              0              0              75
  13  SaltShaker      -1.904         0.924          0.602          0              0              0              52
  14  SaltShaker      -0.143         0.896          3.133          0              0              0              75
  15  PepperShaker    -2.549         0.931          3.209          0              0              0              59
  16  PepperShaker    -1.932         0.658          0.245          0              0              0              55
  17  Bread           -0.486         0.957          2.530          0              0              0              75
  18  Mug             -3.022         0.930          3.209          0              90             0              59
  19  Mug             -1.266         0.790          0.281          0              0              0              70
  20  Egg             -2.934         0.087          0.300          0              26.101         0              76
  21  Plate           -0.692         1.777          0.160          0              0              0              50
  22  Fork            -2.892         0.901          2.177          0              0              0              73
  23  Bread           -2.480         0.957          2.441          0              0              0              73
  24  Apple           -1.180         0.852          0.392          0              0              0              70
  25  Lettuce         -2.738         0.378          4.352          0              90             0              69
  26  Spatula         -0.487         0.677          0.355          0              90             0              41
  27  Knife           -2.785         0.961          3.209          0              0              0              59
  28  Potato          -2.785         0.961          3.302          0              0              0              59
  29  Tomato          -0.921         0.859          0.337          0              0              0              70
  30  Cup             -0.191         1.023          0.267          0              0              0              71
  31  SaltShaker      -2.628         0.931          3.673          0              0              0              59
  32  PepperShaker    -2.628         0.931          3.580          0              0              0              59
  33  ButterKnife     -2.303         0.928          0.518          0              90             0              52
  34  SoapBottle      -2.789         0.900          2.309          0              0              0              73
  35  Pan             -0.250         0.926          4.651          0              0              0              54
  36  DishSponge      -0.486         0.900          2.932          0              0              0              75
  37  Pot             -0.486         0.900          3.334          0              0              0              75
  38  Spoon           -2.303         0.929          0.433          0              180            0              52
  39  Mug             -0.657         0.895          2.329          0              0              0              75
  40  Bowl            -1.248         1.770          0.205          0              0              0              49
  41  Drawer          -0.325         0.696          0.413          0              0              0
  42  Cabinet         -0.595         0.490          0.648          0              0              0
  43  Cabinet         -0.555         0.490          0.646          0              0              0
  44  Cabinet         -1.591         0.490          0.646          0              0              0
  45  Cabinet         -1.554         0.490          0.646          0              0              0
  46  Cabinet         -2.550         0.490          0.646          0              0              0
  47  Cabinet         -1.514         2.046          0.392          0              0              0
  48  Cabinet         -2.474         2.046          0.392          0              0              0
  49  Cabinet         -1.478         2.046          0.392          0              0              0
  50  Cabinet         -0.518         2.046          0.392          0              0              0
  51  Cabinet         -0.479         2.046          0.392          0              0              0
  52  CounterTop      -1.366         0.952          0.349          0              0              0
  53  Sink            -1.108         0.926          0.340          0              0              0
  54  StoveBurner     -0.254         0.922          4.672          0              0              0
  55  Drawer          -1.824         0.696          0.413          0              0              0
  56  StoveBurner     -0.535         0.922          4.274          0              0              0
  57  StoveBurner     -0.254         0.922          4.274          0              0              0
  58  StoveBurner     -0.536         0.922          4.672          0              0              0
  59  CounterTop      -2.780         0.971          3.487          0              0              0
  60  Drawer          -2.323         0.696          0.413          0              0              0
  61  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  65  Toaster         -0.286         0.861          3.520          0              270            0
  66  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  67  LightSwitch     -0.064         1.447          1.996          0              270            0
  68  Window          -3.075         1.593          1.361          90             90             0
  69  Fridge          -2.802         0.0            4.427          0              0              0
  70  SinkBasin       -1.106         0.785          0.337          0              0              0
  71  Microwave       -0.358         0.917          0.224          0              0              0
  72  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  73  DiningTable     -2.733         -0.003         2.607          0              270            0
  74  Faucet          -1.077         0.920          0.028          270            270            0
  75  DiningTable     -0.488         -0.003         3.182          0              270            0
  76
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn to the right, take a step, then turn right again and walk forward to face the counter. | STEP 2: Pick up the knife laying on the counter. | STEP 3: Turn to the left, take two steps, and turn to the right to face the sink. | STEP 4: Cut the tomato in the sink. | STEP 5: Turn around, take two steps, then turn left and walk forward to face a table. | STEP 6: Put the knife in the pan on the table. | STEP 7: Turn around, walk across the room, turn right, then walk across the room to face the sink. | STEP 8: Pick up the tomato slice in the sink. | STEP 9: Turn around, walk halfway across the room, then turn left and walk across the room to face the table. | STEP 10: Put the tomato in the pan on the table. | STEP 11: Pick up the pan with the tomato and knife in it. | STEP 12: Turn to the right, walk across the room, then turn to the left to face the fridge. | STEP 13: Open the fridge, put the pan on the top shelf, close the fridge. | END