Task: To put a tomato slice on a pan plus move them to 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           0.0            0.900          -1.0           0              180            0
   1  Kettle          -0.634         0.111          -1.508         0              0              0              60
   2  Potato          1.663          0.942          0.292          0              0              0              61
   3  Potato          -2.203         0.982          0.524          0              90             0              79
   4  ButterKnife     -2.065         0.952          0.435          0              90             0              79
   5  ButterKnife     0.432          0.912          0.209          0              0              0              45
   6  Pot             1.658          0.912          -1.737         0              0              0              46
   7  Pot             1.361          0.962          0.561          0              270            0              51
   8  Spoon           0.960          0.920          -1.782         0              270            0              44
   9  Spatula         0.167          0.927          0.540          0              0              0              45
  10  Egg             -0.296         0.105          0.569          0              90             0              75
  11  Cup             -2.135         1.051          -1.720         0              0              0              76
  12  Plate           -1.959         0.781          -1.763         0              0              0              76
  13  Tomato          -1.791         1.001          0.345          0              90             0              79
  14  PepperShaker    -2.614         0.948          0.345          0              90             0              79
  15  Bread           1.846          0.995          0.375          0              0              0              61
  16  Mug             0.618          0.945          0.469          0              180            0              70
  17  Bread           -1.928         1.035          0.524          0              90             0              79
  18  Knife           1.785          0.937          0.209          0              0              0              61
  19  Fork            0.697          0.912          0.209          0              0              0              45
  20  Bowl            -0.175         0.911          -1.489         0              0              0              46
  21  Kettle          -0.198         0.111          -1.545         0              0              0              55
  22  Cup             1.412          0.910          -1.489         0              0              0              46
  23  Tomato          -2.203         1.001          0.345          0              90             0              79
  24  SoapBottle      -2.065         0.950          0.165          0              90             0              79
  25  Plate           -0.359         0.913          -1.737         0              0              0              46
  26  Pot             1.007          0.962          0.561          0              270            0              48
  27  Spatula         1.663          0.927          0.706          0              270            0              61
  28  PaperTowelRoll  1.846          1.016          0.706          0              0              0              61
  29  Egg             -2.397         1.086          -1.763         0              0              0              76
  30  Lettuce         -2.477         1.042          0.614          0              90             0              79
  31  SaltShaker      -2.340         0.948          0.255          0              90             0              79
  32  PepperShaker    -0.079         0.102          0.204          0              0              0              56
  33  Apple           -2.203         1.019          0.614          0              90             0              79
  34  ButterKnife     -1.791         0.952          0.255          0              90             0              79
  35  Potato          1.289          0.942          -1.489         0              0              0              46
  36  Pan             1.022          0.959          0.288          0              219.190        0              58
  37  DishSponge      0.701          0.919          -1.582         0              270            0              44
  38  Spoon           -2.614         0.953          0.435          0              90             0              79
  39  Mug             -1.027         1.010          -1.770         0              0              0              68
  40  Cabinet         -0.193         1.688          -1.648         0              180            0
  41  StoveBurner     1.360          0.957          0.293          0              180            0
  42  Drawer          0.499          0.792          0.296          0              0              0
  43  Cabinet         0.095          0.400          -1.352         0              180            0
  44  Sink            0.711          0.817          -1.772         0              270            0
  45  CounterTop      0.280          0.947          0.458          0              0              0
  46  CounterTop      -0.680         0.947          -1.654         0              0              0
  47  Drawer          1.825          0.792          0.296          0              0              0
  48  StoveBurner     1.007          0.957          0.561          0              270            0
  49  Drawer          -0.150         0.792          -1.496         0              0              0
  50  Drawer          -0.586         0.792          -1.496         0              0              0
  51  StoveBurner     1.360          0.957          0.561          0              270            0
  52  Drawer          0.024          0.792          0.296          0              0              0
  53  Cabinet         1.079          0.400          -1.349         0              180            0
  54  Cabinet         1.669          0.402          0.151          0              0              0
  55  Cabinet         0.055          0.402          -1.351         0              0              0
  56  Cabinet         -0.180         0.402          0.151          0              0              0
  57  Cabinet         0.729          0.402          0.151          0              0              0
  58  StoveBurner     1.007          0.957          0.293          0              180            0
  59  Drawer          -1.100         0.792          -1.496         0              0              0
  60  Cabinet         -0.396         0.402          -1.351         0              0              0
  61  CounterTop      1.776          0.947          0.458          0              0              0
  62  Cabinet         1.974          1.688          -1.648         0              180            0
  63  Cabinet         -0.820         0.400          -1.349         0              180            0
  64  Toaster         0.305          0.900          0.552          0              180            0
  65  LightSwitch     -2.756         1.307          -0.987         0              90             0
  66  Window          0.582          1.613          -1.967         90             0              0
  67  Window          1.969          1.5            -0.615         90             270            0
  68  Microwave       -1.037         0.900          -1.723         0              0              0
  69  SinkBasin       0.377          0.765          -1.655         0              270            0
  70  CoffeeMachine   0.618          0.900          0.600          0              180            0
  71  StoveKnob       1.246          0.913          0.118          45             180            0
  72  StoveKnob       1.373          0.913          0.118          45             180            0
  73  StoveKnob       0.995          0.913          0.118          45             180            0
  74  StoveKnob       1.126          0.913          0.118          45             180            0
  75  GarbageCan      -0.368         -0.029         0.539          0              90             0
  76  Fridge          -2.134         0.0            -1.690         0              0              0
  77  Faucet          0.549          1.046          -1.833         0              232.527        0
  78  Stool           -1.475         0.000          0.414          1.233          280.375        0
  79  DiningTable     -2.255         -0.004         0.432          0              0              0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn around and walk across the room to face the white table. | STEP 2: Pick up the knife on the white table. | STEP 3: Take a step to the left to face the tomato in the middle of the table. | STEP 4: Cut the tomato on the center of the table into slices. | STEP 5: Place the knife on top of the cut tomato on the white table. | STEP 6: Pick up a slice of the tomato on the white table. | STEP 7: Turn right and walk across the room and turn left to face the stove. | STEP 8: Place the tomato slice on the pan on the front left burner. | STEP 9: Pick up the pan with the tomato slice in it on the stove. | STEP 10: Turn around and walk across the room to the right to face the fridge. | STEP 11: Place the pan with a tomato slice in it in the fridge. | END