Task: Slice a tomato, refrigerate a slice, heat the slice in the microwave

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            0.930          1.0            0              90             0
   1  Ladle           1.064          1.711          -1.410         0              270            0              52
   2  ButterKnife     0.007          0.900          -1.435         0              45             0              82
   3  ButterKnife     0.553          0.908          0.379          0              36.810         0              92
   4  Kettle          -1.080         0.901          0.399          0              0              0              61
   5  Kettle          -0.420         0.902          -0.920         0              135            0              56
   6  Pot             3.044          1.464          -1.648         0              270            0              59
   7  Spatula         -0.950         0.533          1.430          0              90             0              49
   8  Spoon           3.028          0.748          0.231          0              180            0              106
   9  Spoon           -0.868         0.327          1.518          0              0              0              96
  10  Fork            0.967          0.908          0.038          0              0              0              92
  11  Fork            3.152          0.713          -0.823         0              90             0              48
  12  Mug             0.773          0.708          -1.381         0              0              0              107
  13  Apple           3.277          0.974          -0.698         0              0              0              60
  14  Apple           1.164          1.147          -1.475         0              0              0              107
  15  Lettuce         3.122          0.966          -0.698         0              0              0              60
  16  SaltShaker      -0.779         0.896          -0.749         0              45             0              61
  17  SoapBottle      0.967          0.917          0.464          0              0              0              92
  18  SoapBottle      3.246          1.273          -0.885         0              0              0              74
  19  Egg             -0.985         1.050          1.470          0              90             0              109
  20  Knife           -0.698         0.925          -0.830         0              135            0              61
  21  Knife           0.622          0.936          0.627          0              0              0              92
  22  Plate           0.808          1.687          -1.480         0              0              0              76
  23  Glassbottle     3.084          0.176          -0.453         0              0              0              72
  24  SoapBottle      3.140          0.186          0.700          0              0              0              70
  25  Potato          3.111          0.785          -0.100         0              90             0              106
  26  Fork            -0.868         0.327          -0.098         0              0              0              66
  27  Ladle           -0.991         0.743          -0.273         0              90             0              68
  28  Pot             0.423          0.900          0.869          0              0              0              92
  29  Kettle          -1.080         0.901          -0.047         0              0              0              61
  30  Spatula         3.069          0.762          0.032          0              90             0              106
  31  Knife           -0.960         0.925          -0.774         0              135            0              61
  32  Lettuce         -0.038         0.965          -1.388         0              45             0              82
  33  Cup             -1.052         0.995          1.258          0              90             0              109
  34  SaltShaker      2.890          1.460          -1.284         0              0              0              75
  35  Egg             -0.985         1.050          1.364          0              90             0              109
  36  PepperShaker    0.772          0.904          0.093          0              36.810         0              92
  37  ButterKnife     -0.935         0.900          0.399          0              0              0              61
  38  Apple           0.929          0.785          -1.407         0              0              0              107
  39  Pan             0.341          0.873          -1.649         0              167.065        0              82
  40  Bread           1.534          0.972          0.486          0              289.287        0              92
  41  CellPhone       0.836          0.908          0.889          0              0              0              92
  42  DishSponge      -0.827         0.517          -0.011         0              0              0              88
  43  Tomato          0.839          0.947          0.530          0              36.810         0              92
  44  Spoon           0.798          0.912          0.627          0              0              0              92
  45  Bowl            2.971          0.174          0.700          0              0              0              70
  46  Mug             3.049          0.966          0.591          0              270            0              104
  47  Drawer          0.376          0.572          -1.509         0              0              0
  48  Drawer          3.020          0.769          -0.783         0              180            0
  49  Drawer          -0.860         0.577          1.429          0              0              0
  50  StoveBurner     -0.600         0.897          -1.090         0              135            0
  51  Drawer          0.376          0.191          -1.509         0              0              0
  52  Cabinet         1.402          1.874          -1.259         0              0              0
  53  Cabinet         -0.202         1.963          -1.328         0              0              0
  54  Drawer          -0.860         0.765          1.429          0              0              0
  55  Drawer          -0.677         0.765          -0.700         0              0              0
  56  StoveBurner     -0.420         0.897          -0.920         0              135            0
  57  Drawer          3.020          0.769          -0.407         0              180            0
  58  Drawer          -0.860         0.577          0.663          0              0              0
  59  Cabinet         2.819          1.768          -1.850         0              0              0
  60  CounterTop      3.111          0.936          0.019          0              0              0
  61  CounterTop      -1.007         0.935          -0.039         0              0              0
  62  Drawer          -0.860         0.385          0.663          0              0              0
  63  StoveBurner     -0.419         0.897          -1.269         0              315            0
  64  Drawer          -0.047         0.573          -1.324         0              0              0
  65  Drawer          -0.860         0.765          0.663          0              0              0
  66  Drawer          -0.860         0.385          -0.100         0              0              0
  67  Drawer          0.376          0.380          -1.509         0              0              0
  68  Drawer          -0.860         0.765          -0.100         0              0              0
  69  Drawer          0.376          0.765          -1.509         0              0              0
  70  Cabinet         2.849          0.419          0.409          0              0              0
  71  Drawer          -0.047         0.765          -1.324         0              0              0
  72  Cabinet         2.849          0.419          -0.610         0              0              0
  73  Cabinet         2.849          0.419          -0.959         0              0              0
  74  Cabinet         3.069          1.666          -0.709         0              0              0
  75  Cabinet         2.819          1.768          -1.047         0              0              0
  76  Cabinet         0.620          1.874          -1.259         0              0              0
  77  Cabinet         0.140          1.666          -1.559         0              0              0
  78  Cabinet         -0.189         1.666          -1.340         0              0              0
  79  Cabinet         -0.709         1.963          -0.819         0              0              0
  80  Cabinet         -0.920         1.665          -0.620         0              0              0
  81  Drawer          -0.860         0.190          -0.100         0              0              0
  82  CounterTop      0.133          0.935          -1.457         0              0              0
  83  Drawer          3.020          0.769          0.695          0              180            0
  84  Drawer          -0.677         0.577          -0.700         0              0              0
  85  Drawer          -0.860         0.190          1.429          0              0              0
  86  Drawer          -0.047         0.192          -1.324         0              0              0
  87  Drawer          -0.677         0.193          -0.700         0              0              0
  88  Drawer          -0.860         0.577          -0.100         0              0              0
  89  Sink            3.078          0.887          0.086          0              0              0
  90  StoveBurner     -0.239         0.897          -1.089         0              315            0
  91  Drawer          -0.860         0.190          0.663          0              0              0
  92  CounterTop      1.210          0.937          0.463          0              0              0
  93  Drawer          -0.047         0.381          -1.324         0              0              0
  94  Drawer          -0.677         0.387          -0.700         0              0              0
  95  Mirror          -1.295         1.630          0.045          0              0              0
  96  Drawer          -0.860         0.385          1.429          0              0              0
  97  HousePlant      3.196          0.891          -0.368         0              0              0
  98  StoveKnob       -0.090         0.790          -1.009         270            45             0
  99  StoveKnob       -0.280         0.790          -0.819         270            45             0
 100  StoveKnob       -0.180         0.790          -0.920         270            45             0
 101  StoveKnob       -0.370         0.790          -0.720         270            45             0
 102  GarbageCan      3.137          0.025          1.545          0              225            0
 103  Window          3.703          1.675          0.046          90             90             0
 104  CoffeeMachine   3.214          0.890          0.697          0              270            0
 105  LightSwitch     2.592          1.309          -1.880         0              0              0
 106  SinkBasin       3.069          0.736          0.108          0              90             0
 107  Fridge          1.008          0.029          -1.467         0              0              0
 108  Toaster         -1.035         0.873          -0.396         0              90             0
 109  Microwave       -1.034         0.874          1.428          0              90             0
 110  Faucet          3.305          0.886          0.094          270            180            0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Turn to your right and walk to the stove. | STEP 2: Turn to the countertop immediately to the left of the stove. | STEP 3: Pick up the knife that is under the head of lettuce, turn around and carry the knife to the end of the kitchen island with the pan on it. | STEP 4: Slice the tomato in the center of the top of the kitchen island. | STEP 5: Turn right and walk to the fridge. | STEP 6: Open the fridge door and place the knife on the shelf immediately above the crisper drawers and in front of the yellowtheapple. | STEP 7: Close the fridge door, turn to your right and walk to the end of the kitchen island with a pan on it. | STEP 8: Pick up a slice of the tomato and place it directly in front of you. | STEP 9: Pick up the tomato slice and carry it to the fridge. | STEP 10: Open the fridge door and place the tomato slice on the shelf immediately above the crisper drawers at the cutting end of the knife and to the left of the yellow apple, close the fridge door; after cooling open the fridge door, pick up the tomato slice and close the fridge door. | STEP 11: Turn to your right and walk to the microwave oven on the counter across from the island. | STEP 12: Open the microwave door, place the tomato slice on the plate in the microwave in front of the brown bowl, close the microwave door. | END