Task: slice a tomato, heat it up in the microwave, and store it 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           -4.25          0.900          -3.5           0              90             0
   1  Glassbottle     -0.222         0.916          -3.368         0              0              0              53
   2  Glassbottle     -2.096         0.924          -2.115         0              0              0              78
   3  Pencil          -2.324         0.923          -2.345         0              0              0              78
   4  Pen             -0.026         0.918          -2.001         0              90             0              53
   5  Pen             -2.096         0.926          -2.345         0              0              0              78
   6  DishSponge      -1.048         1.969          -3.773         0              0              0              54
   7  DishSponge      -0.350         1.530          -3.582         0              45             0              61
   8  ButterKnife     -2.666         0.923          -1.884         0              0              0              78
   9  ButterKnife     -2.324         0.923          -1.193         0              90             0              78
  10  WineBottle      -0.422         0.082          -1.758         0              0              0              48
  11  Fork            -2.324         0.924          -0.963         0              0              0              78
  12  Fork            -0.600         0.916          -3.768         0              0              0              53
  13  Plate           -0.747         0.084          -3.584         0              0              0              59
  14  Cup             -0.246         1.097          -0.455         0              270            0              70
  15  SoapBottle      -0.385         0.914          -3.909         0              0              0              53
  16  Tomato          -2.324         0.987          -1.654         0              0              0              78
  17  Tomato          -0.254         0.861          -2.008         0              270            0              71
  18  Bowl            -0.392         1.389          -0.560         0              270            0              70
  19  Lettuce         -0.295         1.191          -0.770         0              270            0              70
  20  SaltShaker      -2.552         0.919          -0.963         0              0              0              78
  21  PepperShaker    -0.720         0.743          -3.586         0              0              0              52
  22  Apple           -0.343         1.172          -0.979         0              270            0              70
  23  Apple           -1.943         0.100          -3.690         0              0              0              69
  24  Lettuce         -2.562         1.002          -1.677         36.385         0              0              78
  25  Glassbottle     -0.350         0.797          -1.860         0              270            0              71
  26  Egg             -0.743         0.948          -3.697         0              0              0              53
  27  Pen             -0.449         0.749          -3.267         0              0              0              64
  28  Fork            -2.552         0.924          -2.115         0              0              0              78
  29  SoapBottle      -0.528         0.914          -3.839         0              0              0              53
  30  Pencil          -2.210         0.923          -2.345         0              0              0              78
  31  WineBottle      -2.552         0.924          -1.423         0              0              0              78
  32  Spatula         -2.096         0.938          -1.423         0              0              0              78
  33  Bread           -0.415         0.952          -3.625         0              0              0              53
  34  Tomato          -2.552         0.987          -1.193         0              0              0              78
  35  Pan             -2.324         0.923          -1.884         0              270            0              78
  36  Cup             -1.549         1.968          -3.928         0              0              0              62
  37  Pot             -1.129         0.935          -3.498         0              0              0              51
  38  SaltShaker      -0.186         1.524          -2.809         0              0              0              65
  39  Potato          -2.780         0.954          -1.193         0              0              0              78
  40  PepperShaker    -0.256         1.966          -2.306         0              0              0              60
  41  ButterKnife     -2.438         0.923          -1.654         0              0              0              78
  42  DishSponge      -1.048         1.969          -3.890         0              0              0              54
  43  Spoon           -0.328         0.786          -2.125         0              33.895         0              71
  44  Plate           -2.780         0.925          -2.115         0              0              0              78
  45  Knife           -2.269         0.920          -2.143         90             315            0              78
  46  Mug             -1.309         1.625          -3.936         0              90             0              66
  47  Bowl            -0.268         1.689          -0.665         0              270            0              70
  48  Cabinet         -0.582         0.388          -1.804         0              0              0
  49  StoveBurner     -1.515         0.928          -3.752         0              90             0
  50  StoveBurner     -1.515         0.928          -3.497         0              0              0
  51  StoveBurner     -1.129         0.928          -3.498         0              0              0
  52  Drawer          -0.749         0.779          -3.551         0              0              0
  53  CounterTop      -0.303         0.951          -2.793         0              0              0
  54  Cabinet         -0.883         2.140          -3.687         0              0              0
  55  Cabinet         -0.312         2.140          -1.543         0              0              0
  56  Sink            -0.349         0.907          -2.014         0              0              0
  57  Cabinet         -0.877         0.388          -3.422         0              0              0
  58  Cabinet         -0.582         0.388          -2.197         0              0              0
  59  Cabinet         -0.584         0.388          -3.396         0              0              0
  60  Cabinet         -0.312         2.140          -2.481         0              0              0
  61  Cabinet         -0.330         1.921          -3.390         0              0              0
  62  Cabinet         -1.764         2.140          -3.687         0              0              0
  63  StoveBurner     -1.129         0.928          -3.752         0              90             0
  64  Drawer          -0.454         0.779          -3.268         0              0              0
  65  Cabinet         -0.302         1.916          -2.501         0              0              0
  66  Microwave       -1.317         1.517          -3.801         0              1.440          0
  67  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  68  LightSwitch     -4.323         1.319          0.0            0              180            0
  69  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  70  Fridge          -0.330         0.0            -0.769         0              270            0
  71  SinkBasin       -0.350         0.786          -2.018         0              270            0
  72  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  73  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  76  Toaster         -0.181         0.903          -2.764         0              270            0
  77  Window          -2.503         1.782          -4.185         90             180            0
  78  DiningTable     -2.432         0.000          -1.694         0              270            0
  79  Shelf           -2.432         0.150          -1.694         0              270            0
  80  Blinds          -2.536         2.699          -3.959         0              0              0
  81  Faucet          -0.079         0.904          -2.034         270            180            0
  82  Chair           -3.264         0.002          -2.094         0              53.280         0
  83  Chair           -3.240         0.002          -1.253         0              117.257        0
  84  Shelf           -2.432         0.523          -1.694         0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: go left around the center green table and face it | STEP 2: pick up the knife on the green table | STEP 3: turn around and face the sink behind the green table | STEP 4: slice the tomato in the sink | STEP 5: turn around and face the green table again | STEP 6: place the knife on the green table to the left of the spatula | STEP 7: return to the kitchen sink | STEP 8: pick up a slice of tomato in the sink | STEP 9: turn right, then go straight to face the stove top, then look up at the microwave | STEP 10: place the tomato in the microwave for several seconds, then take it out | STEP 11: take the tomato slice to the refrigerator | STEP 12: place the tomato in the center of the top shelf, then close the refrigerator door | END