Task: Place a cooked tomato slice 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           -1.0           0.914          1.5            0              270            0
   1  Potato          -0.673         1.018          4.051          0              180            0              68
   2  Potato          -3.463         0.948          1.524          0              0              0              51
   3  ButterKnife     -1.655         0.891          0.358          0              90             0              78
   4  ButterKnife     -2.022         0.915          4.020          0              0              0              42
   5  WineBottle      -3.654         0.916          1.524          0              0              0              51
   6  Kettle          -1.391         0.892          0.152          0              90             0              78
   7  Spoon           -1.523         0.892          0.049          0              90             0              78
   8  Pot             -3.424         0.966          1.971          0              0              0              50
   9  Plate           -3.559         0.919          1.189          0              0              0              51
  10  SoapBottle      -2.759         0.080          3.586          0              0              0              54
  11  SaltShaker      -3.081         0.912          1.357          0              0              0              51
  12  SaltShaker      -0.994         0.893          -0.053         0              90             0              78
  13  PepperShaker    -3.558         1.991          2.537          0              0              0              57
  14  PepperShaker    -3.368         0.912          1.189          0              0              0              51
  15  Bread           -1.127         0.972          0.461          0              90             0              78
  16  Mug             -3.426         0.945          3.275          0              90             0              42
  17  Mug             -0.206         1.268          4.062          0              180            0              68
  18  Apple           -1.127         0.951          0.049          0              90             0              78
  19  Egg             -0.790         1.021          4.114          0              180            0              68
  20  Knife           -1.391         0.915          0.461          0              0              0              78
  21  Fork            -1.815         0.916          4.188          0              0              0              42
  22  Bread           -0.790         1.623          4.102          0              180            0              68
  23  Potato          -0.440         1.018          4.051          0              180            0              68
  24  Plate           -3.005         0.904          3.677          0              0              0              42
  25  Pot             -3.424         0.966          2.374          0              0              0              48
  26  Kettle          -3.145         0.069          2.920          0              270            0              55
  27  WineBottle      -3.272         0.916          1.524          0              0              0              51
  28  Bowl            -3.505         1.453          3.805          0              0              0              59
  29  Tomato          -0.323         0.791          3.817          0              180            0              68
  30  Cup             -3.463         0.915          3.827          0              0              0              42
  31  Spatula         -3.155         0.760          1.202          0              90             0              43
  32  SoapBottle      -1.523         0.891          -0.053         0              90             0              78
  33  Lettuce         -1.759         0.974          0.085          0              0              0              78
  34  Pan             -2.614         0.902          3.620          0              0              0              42
  35  Apple           -1.192         0.146          3.756          0              270            0              74
  36  SaltShaker      -1.391         0.887          0.358          0              90             0              78
  37  PepperShaker    -3.127         0.743          3.356          0              0              0              52
  38  ButterKnife     -1.729         0.789          3.7            0              0              0              72
  39  DishSponge      -3.176         0.915          1.440          0              0              0              51
  40  Spoon           -1.921         0.790          3.737          0              0              0              72
  41  Mug             -3.492         1.990          2.421          0              0              0              57
  42  CounterTop      -3.381         0.950          3.335          0              0              0
  43  Drawer          -3.121         0.775          1.357          0              0              0
  44  Drawer          -3.121         0.777          2.916          0              0              0
  45  StoveBurner     -3.148         0.958          2.374          0              0              0
  46  Sink            -1.797         0.917          3.660          0              0              0
  47  Cabinet         -1.421         0.388          3.459          0              0              0
  48  StoveBurner     -3.424         0.958          2.374          0              0              0
  49  Cabinet         -3.365         1.931          2.676          0              0              0
  50  StoveBurner     -3.424         0.958          1.971          0              0              0
  51  CounterTop      -3.381         0.951          1.356          0              0              0
  52  Drawer          -3.121         0.781          3.295          0              0              0
  53  Cabinet         -2.205         0.388          3.459          0              0              0
  54  Cabinet         -2.963         0.388          3.459          0              0              0
  55  Cabinet         -2.992         0.388          2.683          0              0              0
  56  Cabinet         -3.352         2.205          1.715          0              0              0
  57  Cabinet         -3.352         2.205          2.653          0              0              0
  58  Cabinet         -2.189         0.388          3.466          0              0              0
  59  Cabinet         -3.365         1.931          3.963          0              0              0
  60  Cabinet         -3.365         1.931          1.056          0              0              0
  61  Cabinet         -2.992         0.388          1.037          0              0              0
  62  StoveBurner     -3.143         0.958          1.971          0              0              0
  63  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  64  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  65  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  66  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  67  Toaster         -2.654         0.902          4.064          0              180            0
  68  Fridge          -0.439         0.014          3.996          0              0              0
  69  LightSwitch     0.25           1.383          2.085          0              270            0
  70  Window          -1.430         1.338          -0.347         90             0              0
  71  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  72  SinkBasin       -1.802         0.778          3.700          0              0              0
  73  Microwave       -3.484         1.430          2.182          0              90             0
  74  GarbageCan      -1.184         -0.020         3.794          0              270            0
  75  Blinds          -1.404         2.092          -0.296         0              0              0
  76  Stool           -1.373         0.014          1.048          1.214          20.754         0
  77  Faucet          -1.788         0.903          3.931          270            90             0
  78  DiningTable     -1.399         0.010          0.238          0              0              0
  79  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: go forward a few steps and turn to the right and go to the sink | STEP 2: pick up the knife from the sink | STEP 3: turn to the right twice and take a few steps and  turn to the left and  go to the door and turn to the left facing the refrigerator | STEP 4: open the refrigerator door and slice with the knife the tomato on the shelf and close the door | STEP 5: turn to the left and go to the front of the sink and turn to the right facing the sink | STEP 6: put the knife in the sink | STEP 7: turn to the right and go to the door and turn to the left facing the refrigerator | STEP 8: open the refrigerator door and pick up a slice of tomato from the shelf and close the refrigerator door | STEP 9: turn to the left twice and take a few steps and turn to the right and go to the microwave | STEP 10: put the tomato slice in the microwave and cook and take out the cooked tomato slice | STEP 11: turn to the right twice and go to the front of the refrigerator and turn to the left and go to the refrigerator | STEP 12: open the refrigerator door and put the slice of tomato on the shelf and close the refrigerator door | END