Task: place a cooked tomato slice in 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          2.0            0              90             0
   1  Pot             1.807          0.909          -0.320         0              180            0              38
   2  Fork            0.220          0.911          0.739          0              180            0              36
   3  Spoon           1.762          0.911          0.518          0              90             0              36
   4  Spatula         1.245          0.925          1.092          0              270            0              36
   5  Egg             1.501          0.945          0.827          0              90             0              36
   6  Cup             1.706          1.013          -0.888         0              270            0              60
   7  Plate           1.757          0.912          1.092          0              90             0              36
   8  Knife           1.451          0.943          0.415          0              90             0              36
   9  SoapBottle      1.736          1.637          0.599          0              0              0              45
  10  Tomato          1.77           0.134          1.636          0              270            0              54
  11  Bowl            1.865          0.910          -1.717         0              90             0              40
  12  PepperShaker    1.841          1.630          -1.297         0              0              0              49
  13  Mug             0.455          0.906          -1.263         0              90             0              40
  14  Plate           1.802          1.647          -0.000         0              0              0              46
  15  SoapBottle      0.258          0.909          -1.263         0              90             0              40
  16  Cup             1.355          0.909          -1.247         0              90             0              40
  17  Egg             0.553          0.946          -1.263         0              90             0              40
  18  Fork            1.501          0.911          1.092          0              270            0              36
  19  Ladle           1.201          0.926          0.743          3.362          0              347.001        36
  20  Apple           -0.838         0.803          -1.524         0              0              0              63
  21  SaltShaker      1.607          0.905          0.311          0              90             0              36
  22  Pan             1.281          0.900          1.190          0              0              0              36
  23  Tomato          0.220          0.974          0.827          0              90             0              36
  24  Spatula         0.963          0.775          -1.544         0              270            0              55
  25  Potato          0.988          0.950          1.269          0              90             0              36
  26  Knife           0.455          0.943          -1.793         0              180            0              40
  27  ButterKnife     0.476          0.910          0.827          0              90             0              36
  28  Bread           1.726          0.988          -1.374         0              90             0              40
  29  Lettuce         1.757          1.010          0.827          0              90             0              36
  30  PepperShaker    1.516          0.906          -1.374         0              90             0              40
  31  Pot             1.543          0.909          -0.320         0              90             0              39
  32  DishSponge      1.800          0.069          1.827          0              270            0              54
  33  Spoon           1.165          0.750          -1.494         0              342.866        0              55
  34  Bowl            0.193          0.900          1.170          0              0              0              36
  35  Mug             0.502          0.940          -1.460         0              0              0              62
  36  CounterTop      0.989          0.946          1.016          0              90             0
  37  StoveBurner     1.807          0.907          0.075          0              180            0
  38  StoveBurner     1.807          0.907          -0.320         0              180            0
  39  StoveBurner     1.543          0.907          -0.320         0              90             0
  40  CounterTop      0.989          0.946          -1.516         0              90             0
  41  Sink            1.100          0.906          -1.599         0              0              0
  42  StoveBurner     1.548          0.907          0.075          0              180            0
  43  Cabinet         1.658          2.299          1.313          0              0              0
  44  Cabinet         1.658          2.299          0.686          0              0              0
  45  Cabinet         1.658          2.049          0.673          0              0              0
  46  Cabinet         1.658          2.059          0.193          0              0              0
  47  Cabinet         1.658          2.059          -0.593         0              0              0
  48  Cabinet         1.658          2.049          -0.606         0              0              0
  49  Cabinet         1.658          2.049          -1.206         0              0              0
  50  Cabinet         1.658          2.049          -1.893         0              0              0
  51  Toaster         0.131          0.900          -1.589         0              0              0
  52  Window          -0.372         1.588          3.349          90             0              0
  53  Window          0.782          1.741          -1.893         90             0              0
  54  GarbageCan      1.770          -0.029         1.685          0              270            0
  55  SinkBasin       1.091          0.740          -1.599         0              0              0
  56  StoveKnob       1.364          0.821          0.086          48.421         270            0
  57  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  58  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  59  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  60  Microwave       1.752          0.900          -0.843         0              270            0
  61  LightSwitch     2.0            1.261          3.094          0              270            0
  62  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  63  Fridge          -0.533         0.0            -1.554         0              0              0
  64  Chair           1.068          0.000          1.752          0              191.622        0
  65  Faucet          1.110          1.138          -1.764         0              270            0
  66  Chair           0.357          0.000          1.710          0              178.899        0
  67  NorthWall
  68  EastWall
  69  SouthWall
  70  WestWall

Plan:
STEP 1: turn around and head for the sink  | STEP 2: pick up the knife | STEP 3: turn around and head for the bin | STEP 4: slice the tomato in the bin | STEP 5: turn right and head for the fridge | STEP 6: drop the knife in the fridge | STEP 7: turn left and head for the bin | STEP 8: pick up a tomato slice  | STEP 9: head for the microwave ahead | STEP 10: place it in the microwave to cook and take it out | STEP 11: turn around and head for the fridge | STEP 12: place the tomato in the fridge | END