Task: Putting a slice of tomato in the refrigerator

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.901          4.25           0              270            0
   1  Pan             -0.228         0.900          3.133          0              90             0              73
   2  Potato          -1.180         0.822          0.447          0              0              0              68
   3  DishSponge      -2.170         0.927          0.602          0              0              0              50
   4  DishSponge      -1.932         0.661          0.519          0              0              0              53
   5  ButterKnife     -2.706         0.935          3.209          0              0              0              57
   6  Spatula         -2.549         0.950          3.580          0              0              0              57
   7  Spoon           -1.716         0.663          0.300          0              0              0              53
   8  Fork            -2.215         0.662          0.409          0              0              0              58
   9  Fork            -2.686         0.901          2.309          0              0              0              71
  10  Cup             -0.244         1.023          0.267          0              0              0              69
  11  Cup             -2.995         0.900          2.177          0              0              0              71
  12  Plate           -2.785         0.303          4.427          0              90             0              67
  13  Knife           -1.904         0.953          0.433          0              0              0              50
  14  Tomato          -2.785         0.999          3.302          0              0              0              57
  15  PepperShaker    -0.164         0.658          0.245          0              0              0              39
  16  Apple           -0.350         1.079          0.267          0              0              0              69
  17  Apple           -2.995         0.956          2.309          0              0              0              71
  18  Egg             -2.764         1.219          4.352          0              90             0              67
  19  Plate           -0.572         0.904          2.530          0              0              0              73
  20  Fork            -2.892         0.901          2.309          0              0              0              71
  21  Bread           -2.480         0.957          2.441          0              0              0              71
  22  Apple           -2.798         0.110          0.318          0              26.101         0              64
  23  Lettuce         -0.657         0.980          3.133          0              0              0              73
  24  Spatula         -1.094         0.810          0.226          0              90             0              68
  25  Knife           -2.789         0.926          2.045          0              0              0              71
  26  Potato          -0.138         1.044          0.171          0              0              0              69
  27  Tomato          -2.888         1.250          4.352          0              90             0              67
  28  Cup             -1.248         1.773          0.160          0              0              0              47
  29  SaltShaker      -1.878         0.658          0.355          0              0              0              53
  30  PepperShaker    -0.314         0.896          3.334          0              0              0              73
  31  ButterKnife     -0.486         0.900          2.932          0              0              0              73
  32  SoapBottle      -1.801         1.773          0.297          0              0              0              45
  33  Pan             -0.535         0.928          4.274          0              0              0              54
  34  DishSponge      -1.083         1.773          0.160          0              0              0              47
  35  Pot             -2.476         0.889          2.050          0              0              0              71
  36  Spoon           -0.380         0.663          0.409          0              0              0              39
  37  Mug             -2.892         0.895          2.177          0              90             0              71
  38  Bowl            -2.789         0.897          1.913          0              0              0              71
  39  Drawer          -0.325         0.696          0.413          0              0              0
  40  Cabinet         -0.595         0.490          0.648          0              0              0
  41  Cabinet         -0.555         0.490          0.646          0              0              0
  42  Cabinet         -1.591         0.490          0.646          0              0              0
  43  Cabinet         -1.554         0.490          0.646          0              0              0
  44  Cabinet         -2.550         0.490          0.646          0              0              0
  45  Cabinet         -1.514         2.046          0.392          0              0              0
  46  Cabinet         -2.474         2.046          0.392          0              0              0
  47  Cabinet         -1.478         2.046          0.392          0              0              0
  48  Cabinet         -0.518         2.046          0.392          0              0              0
  49  Cabinet         -0.479         2.046          0.392          0              0              0
  50  CounterTop      -1.366         0.952          0.349          0              0              0
  51  Sink            -1.108         0.926          0.340          0              0              0
  52  StoveBurner     -0.254         0.922          4.672          0              0              0
  53  Drawer          -1.824         0.696          0.413          0              0              0
  54  StoveBurner     -0.535         0.922          4.274          0              0              0
  55  StoveBurner     -0.254         0.922          4.274          0              0              0
  56  StoveBurner     -0.536         0.922          4.672          0              0              0
  57  CounterTop      -2.780         0.971          3.487          0              0              0
  58  Drawer          -2.323         0.696          0.413          0              0              0
  59  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  60  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  63  Toaster         -0.286         0.861          3.520          0              270            0
  64  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  65  LightSwitch     -0.064         1.447          1.996          0              270            0
  66  Window          -3.075         1.593          1.361          90             90             0
  67  Fridge          -2.802         0.0            4.427          0              0              0
  68  SinkBasin       -1.106         0.785          0.337          0              0              0
  69  Microwave       -0.358         0.917          0.224          0              0              0
  70  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  71  DiningTable     -2.733         -0.003         2.607          0              270            0
  72  Faucet          -1.077         0.920          0.028          270            270            0
  73  DiningTable     -0.488         -0.003         3.182          0              270            0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Go to the counter to the left of the fridge | STEP 2: Pick up the knife beside the tomato on the counter | STEP 3: Slice the tomato on the counter | STEP 4: Move in front of the coffee maker on the counter | STEP 5: Place the knife with the blade on the front edge of the coffee maker | STEP 6: Move slightly left to in front of the tomato | STEP 7: Take a piece of tomato from beside the left of the coffee maker | STEP 8: Turn around and move towards the stove | STEP 9: Place the slice of tomato in a pan on the stove | STEP 10: Pick up the pan with the tomato slice in it | STEP 11: Turn around and move to the refrigerator | STEP 12: Open the refrigerator, place the pan and tomato slice inside of it and close the door of the refrigerator | END