Task: Put a pan with a tomato inside on top of a table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.914          1.5            0              180            0
   1  DishSponge      -3.156         0.746          3.027          0              0              0              40
   2  WineBottle      -0.994         0.897          -0.053         0              90             0              74
   3  Kettle          -3.191         0.084          1.200          0              0              0              57
   4  Kettle          -2.800         0.081          3.663          0              0              0              50
   5  Spoon           -3.559         0.916          1.440          0              0              0              47
   6  Spoon           -1.921         0.790          3.737          0              0              0              68
   7  Fork            -1.815         0.916          4.104          0              0              0              38
   8  Fork            -1.127         0.892          0.255          0              90             0              74
   9  Cup             -3.081         0.915          1.440          0              0              0              47
  10  PepperShaker    -3.463         0.912          1.106          0              0              0              47
  11  PepperShaker    -3.195         0.077          3.088          0              0              0              51
  12  Lettuce         -3.559         1.001          2.844          0              0              0              38
  13  Mug             -1.666         0.784          3.774          0              0              0              68
  14  Mug             -0.994         0.886          0.152          0              90             0              74
  15  Egg             -1.655         0.926          -0.053         0              90             0              74
  16  Knife           -0.994         0.915          0.049          0              90             0              74
  17  Fork            -2.022         0.916          4.188          0              0              0              38
  18  Bread           -1.192         0.167          3.756          0              270            0              70
  19  Potato          -2.804         0.947          3.567          0              180            0              38
  20  Plate           -2.410         0.084          3.625          0              0              0              49
  21  Pot             -3.424         0.966          1.971          0              0              0              46
  22  Kettle          -3.143         0.966          1.971          0              0              0              58
  23  WineBottle      -1.787         0.892          0.152          0              90             0              74
  24  Bowl            -1.565         0.079          3.586          0              0              0              43
  25  Tomato          -0.323         0.791          3.843          0              180            0              64
  26  Cup             -0.440         1.273          4.062          0              180            0              64
  27  Spatula         -3.225         0.919          1.608          0              0              0              47
  28  SoapBottle      -3.176         0.915          3.172          0              0              0              38
  29  Lettuce         -1.259         0.977          -0.053         0              90             0              74
  30  Pan             -2.614         0.902          3.620          0              0              0              38
  31  Apple           -3.654         0.975          3.663          0              0              0              38
  32  SaltShaker      -3.126         0.742          1.433          0              0              0              39
  33  PepperShaker    -1.608         0.911          4.104          0              0              0              38
  34  ButterKnife     -3.368         0.915          1.189          0              0              0              47
  35  DishSponge      -3.559         0.915          1.524          0              0              0              47
  36  Spoon           -1.259         0.892          0.358          0              90             0              74
  37  Mug             -0.439         0.981          3.863          0              180            0              64
  38  CounterTop      -3.381         0.950          3.335          0              0              0
  39  Drawer          -3.121         0.775          1.357          0              0              0
  40  Drawer          -3.121         0.777          2.916          0              0              0
  41  StoveBurner     -3.148         0.958          2.374          0              0              0
  42  Sink            -1.797         0.917          3.660          0              0              0
  43  Cabinet         -1.421         0.388          3.459          0              0              0
  44  StoveBurner     -3.424         0.958          2.374          0              0              0
  45  Cabinet         -3.365         1.931          2.676          0              0              0
  46  StoveBurner     -3.424         0.958          1.971          0              0              0
  47  CounterTop      -3.381         0.951          1.356          0              0              0
  48  Drawer          -3.121         0.781          3.295          0              0              0
  49  Cabinet         -2.205         0.388          3.459          0              0              0
  50  Cabinet         -2.963         0.388          3.459          0              0              0
  51  Cabinet         -2.992         0.388          2.683          0              0              0
  52  Cabinet         -3.352         2.205          1.715          0              0              0
  53  Cabinet         -3.352         2.205          2.653          0              0              0
  54  Cabinet         -2.189         0.388          3.466          0              0              0
  55  Cabinet         -3.365         1.931          3.963          0              0              0
  56  Cabinet         -3.365         1.931          1.056          0              0              0
  57  Cabinet         -2.992         0.388          1.037          0              0              0
  58  StoveBurner     -3.143         0.958          1.971          0              0              0
  59  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  60  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  61  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  62  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  63  Toaster         -2.654         0.902          4.064          0              180            0
  64  Fridge          -0.439         0.014          3.996          0              0              0
  65  LightSwitch     0.25           1.383          2.085          0              270            0
  66  Window          -1.430         1.338          -0.347         90             0              0
  67  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  68  SinkBasin       -1.802         0.778          3.700          0              0              0
  69  Microwave       -3.484         1.430          2.182          0              90             0
  70  GarbageCan      -1.184         -0.020         3.794          0              270            0
  71  Blinds          -1.404         2.092          -0.296         0              0              0
  72  Stool           -1.373         0.014          1.048          1.214          20.754         0
  73  Faucet          -1.788         0.903          3.931          270            90             0
  74  DiningTable     -1.399         0.010          0.238          0              0              0
  75  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn left, walk straight, turn left, walk straight to the fridge | STEP 2: Open the fridge, take out the tomato inside, close the fridge | STEP 3: Turn left, turn left, walk straight, turn right to the table | STEP 4: Put the tomato on the table | STEP 5: Pick up the knife on the table | STEP 6: Slice the tomato on the table | STEP 7: Put the knife on the table | STEP 8: Take a slice of the tomato | STEP 9: Turn right, turn right, walk straight, turn left, walk straight to the oven | STEP 10: Put the slice of tomato into the pan on the top left | STEP 11: Pick up the pan on the oven | STEP 12: Turn left, turn left, walk straight, turn right to the table | STEP 13: Put the pan on top of the table | END