Task: Put a microwaved a tomato slice in the refrigerator on the top shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          0.0            0              0              0
   1  Pan             0.678          0.964          1.345          0              0              0              82
   2  Potato          -1.991         0.458          1.417          0              270            0              97
   3  DishSponge      2.156          0.911          -0.515         0              0              0              44
   4  DishSponge      0.654          2.153          1.468          0              0              0              53
   5  Kettle          0.281          0.964          1.082          0              0              0              50
   6  Fork            0.123          0.766          -0.707         0              0              0              101
   7  Spatula         0.054          0.926          -0.330         0              0              0              44
   8  Plate           2.524          1.658          1.468          0              0              0              69
   9  Cup             -0.106         1.652          -0.696         0              180            0              86
  10  Egg             2.754          0.949          1.129          0              0              0              79
  11  Egg             -0.682         0.858          -1.328         0              0              0              103
  12  Knife           -0.055         0.944          1.129          0              90             0              55
  13  Knife           0.634          0.944          -0.6           0              0              0              44
  14  Tomato          0.193          0.797          -0.541         0              0              0              101
  15  SaltShaker      2.242          1.651          -0.835         0              180            0              65
  16  Bread           2.777          1.077          -0.709         0              0              0              99
  17  Bread           -0.151         0.969          1.129          0              0              0              55
  18  Lettuce         1.955          0.992          1.214          0              0              0              79
  19  Mug             1.141          1.650          1.546          0              0              0              71
  20  Mug             1.254          1.650          1.390          0              0              0              71
  21  SoapBottle      -1.991         0.429          1.290          0              270            0              97
  22  Plate           2.838          1.566          -0.578         0              0              0              99
  23  Fork            1.688          0.912          1.214          0              0              0              79
  24  Pot             0.297          0.960          1.346          0              0              0              59
  25  Bread           2.488          0.969          1.383          0              0              0              79
  26  Egg             -0.157         0.803          -0.596         0              0              0              101
  27  Kettle          1.134          1.655          -0.734         0              180            0              46
  28  Tomato          -0.983         0.852          -1.411         0              90             0              103
  29  Cup             0.193          0.763          -0.707         0              0              0              101
  30  Spatula         0.888          0.926          -0.430         0              0              0              44
  31  Apple           2.156          0.980          -0.345         0              0              0              44
  32  Pan             -0.151         0.911          1.468          0              0              0              55
  33  Lettuce         2.221          0.992          1.129          0              0              0              79
  34  SaltShaker      2.754          0.908          1.044          0              0              0              79
  35  Knife           -0.836         0.853          -1.400         0              0              0              103
  36  Potato          2.221          0.946          1.468          0              0              0              79
  37  PepperShaker    2.235          0.111          -0.498         0              180            0              85
  38  ButterKnife     -0.836         0.820          -1.183         0              0              0              103
  39  Bowl            1.155          0.909          1.214          0              0              0              79
  40  DishSponge      1.155          0.911          1.383          0              0              0              79
  41  Spoon           -0.785         0.822          -1.038         0              0              0              103
  42  Mug             -1.056         0.815          -1.257         0              270            0              103
  43  Sink            0.050          0.902          -0.648         0              0              0
  44  CounterTop      1.358          0.947          -0.600         0              0              0
  45  Cabinet         2.986          2.009          1.304          0              0              0
  46  Cabinet         1.022          2.009          -0.607         0              180            0
  47  StoveBurner     0.678          0.923          1.082          0              0              0
  48  Cabinet         2.371          0.402          0.995          0              0              0
  49  Drawer          -0.125         0.792          0.995          0              0              0
  50  StoveBurner     0.281          0.923          1.082          0              0              0
  51  Cabinet         1.025          0.402          0.995          0              0              0
  52  Cabinet         1.023          0.402          -0.296         0              180            0
  53  Cabinet         0.974          2.259          1.304          0              0              0
  54  Cabinet         0.979          2.009          -0.607         0              180            0
  55  CounterTop      -0.158         0.947          1.299          0              0              0
  56  Cabinet         1.725          2.009          1.304          0              0              0
  57  Drawer          2.205          0.792          -0.294         0              180            0
  58  Drawer          1.869          0.792          -0.294         0              180            0
  59  StoveBurner     0.281          0.923          1.347          0              0              0
  60  Drawer          2.512          0.792          0.995          0              0              0
  61  Cabinet         1.673          0.402          -0.296         0              180            0
  62  Drawer          1.524          0.792          0.995          0              0              0
  63  Drawer          1.174          0.792          -0.294         0              180            0
  64  Cabinet         1.720          0.402          0.995          0              0              0
  65  Cabinet         2.348          2.009          -0.607         0              180            0
  66  Cabinet         1.676          2.009          -0.607         0              180            0
  67  Cabinet         1.673          2.009          1.304          0              0              0
  68  Cabinet         2.326          2.009          1.304          0              0              0
  69  Cabinet         2.370          2.009          1.304          0              0              0
  70  Cabinet         0.021          2.009          1.304          0              0              0
  71  Cabinet         1.025          2.009          1.304          0              0              0
  72  Cabinet         -0.274         0.402          0.995          0              0              0
  73  Cabinet         1.675          0.402          0.995          0              0              0
  74  Drawer          1.524          0.792          -0.294         0              180            0
  75  Drawer          2.187          0.792          0.995          0              0              0
  76  Cabinet         2.977          0.402          0.995          0              0              0
  77  Drawer          1.862          0.792          0.995          0              0              0
  78  Cabinet         0.072          2.259          1.304          0              0              0
  79  CounterTop      1.917          0.947          1.299          0              0              0
  80  Cabinet         2.328          0.402          0.995          0              0              0
  81  Cabinet         1.723          2.009          -0.607         0              180            0
  82  StoveBurner     0.677          0.923          1.345          0              0              0
  83  Cabinet         0.355          2.009          -0.607         0              180            0
  84  Cabinet         0.332          2.009          -0.607         0              180            0
  85  Cabinet         2.349          0.402          -0.296         0              180            0
  86  Cabinet         -0.284         2.009          -0.607         0              180            0
  87  Faucet          0.061          0.906          -0.903         0              0              0
  88  Drawer          2.837          0.792          0.995          0              0              0
  89  Drawer          1.175          0.792          0.995          0              0              0
  90  Cabinet         1.723          0.402          -0.296         0              180            0
  91  StoveKnob       0.588          1.093          1.557          287.970        0              0
  92  StoveKnob       0.188          1.093          1.557          287.970        0              0
  93  StoveKnob       0.749          1.093          1.557          287.970        0              0
  94  StoveKnob       0.338          1.093          1.557          287.970        0              0
  95  Toaster         1.934          0.900          -0.717         0              0              0
  96  LightSwitch     -1.662         1.427          1.649          0              180            0
  97  GarbageCan      -1.965         -0.029         1.358          0              270            0
  98  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  99  Fridge          3.043          0.0            -0.709         0              0              0
 100  Window          -2.183         1.501          -0.014         90             270            0
 101  SinkBasin       0.043          0.755          -0.651         0              0              0
 102  Microwave       0.531          1.675          1.437          0              180            0
 103  DiningTable     -0.836         8.404          -1.258         0              0              0
 104  Chair           -1.611         0.002          -1.185         0              45             0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn around and move to the counter to the left of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Move to the sink on the right. | STEP 4: Use the knife to cut the tomato. | STEP 5: Move to the refrigerator on the left. | STEP 6: Open the refrigerator and place the knife on the right side second shelf down. | STEP 7: Close refrigerator doors and move to the sink on the right. | STEP 8: Pick up the tomato slice from the sink. | STEP 9: Turn around and move towards to microwave. | STEP 10: Open the microwave and place the tomato slice inside briefly heat it and remove it before closing the door. | STEP 11: Move the the refrigerator on the right.  | STEP 12: Open refrigerator and place tomato slice on top shelf and close door. | END