Task: To heat the tomato slice and place it 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           -1.0           0.900          -1.25          0              180            0
   1  Pan             -1.129         0.935          -3.498         0              0              0              55
   2  Glassbottle     -0.453         1.531          -3.685         0              45             0              65
   3  Glassbottle     -0.815         0.916          -3.485         0              0              0              57
   4  Pencil          -2.438         0.923          -2.115         0              0              0              82
   5  Pen             -0.749         0.749          -3.556         0              0              0              56
   6  Pen             -0.026         0.918          -1.900         0              90             0              57
   7  DishSponge      -2.210         0.923          -1.654         0              0              0              82
   8  ButterKnife     -2.666         0.923          -1.884         0              180            0              82
   9  ButterKnife     -0.222         0.915          -3.570         0              0              0              57
  10  WineBottle      -0.508         0.916          -3.167         0              0              0              57
  11  Spatula         -2.438         0.938          -1.654         0              90             0              82
  12  Plate           -2.552         0.925          -1.884         0              0              0              82
  13  Cup             -0.295         1.097          -0.665         0              270            0              74
  14  Egg             -1.881         0.059          -3.799         0              0              0              73
  15  SoapBottle      -2.324         0.922          -1.423         0              0              0              82
  16  SoapBottle      -2.666         0.922          -1.423         0              0              0              82
  17  Tomato          -0.254         0.861          -2.008         0              270            0              75
  18  Tomato          -0.246         1.162          -0.455         0              270            0              74
  19  Tomato          -0.441         1.162          -0.560         0              270            0              74
  20  Lettuce         -0.295         1.483          -0.770         0              270            0              74
  21  SaltShaker      -0.306         0.077          -1.712         0              0              0              62
  22  SaltShaker      -2.552         0.919          -0.963         0              0              0              82
  23  Mug             -0.671         0.910          -3.768         0              0              0              57
  24  Mug             -2.780         0.918          -1.423         0              0              0              82
  25  Apple           -1.943         0.100          -3.690         0              0              0              73
  26  Apple           -0.441         1.172          -0.769         0              270            0              74
  27  Apple           -2.006         0.100          -3.799         0              0              0              73
  28  Lettuce         -0.295         1.191          -0.979         0              270            0              74
  29  Glassbottle     -0.447         0.797          -2.155         0              270            0              75
  30  Egg             -0.447         0.831          -1.786         0              270            0              75
  31  Pen             -2.160         0.919          -0.829         0              0              0              82
  32  Fork            -0.295         0.788          -1.858         0              0              0              75
  33  SoapBottle      -0.815         0.914          -3.626         0              0              0              57
  34  Pencil          -2.438         0.923          -0.963         0              0              0              82
  35  WineBottle      -0.222         0.916          -3.771         0              0              0              57
  36  Spatula         -0.3           0.915          -2.544         0              22.903         0              57
  37  Bread           -2.210         0.976          -1.193         0              0              0              82
  38  Tomato          -2.780         0.987          -1.654         0              0              0              82
  39  Pan             -1.515         0.935          -3.752         0              90             0              53
  40  Cup             -0.205         1.969          -2.306         0              0              0              64
  41  Pot             -2.238         0.913          -1.882         0              0              0              82
  42  SaltShaker      -0.508         0.743          -3.208         0              0              0              68
  43  Potato          -2.780         0.954          -2.345         0              0              0              82
  44  PepperShaker    -0.222         0.912          -3.368         0              0              0              57
  45  ButterKnife     -2.552         0.923          -1.654         0              180            0              82
  46  DishSponge      -1.654         1.969          -3.928         0              0              0              66
  47  Spoon           -2.096         0.924          -0.963         0              0              0              82
  48  Plate           -2.666         0.925          -2.115         0              0              0              82
  49  Knife           -2.096         0.946          -1.884         0              90             0              82
  50  Mug             -2.096         0.918          -1.423         0              0              0              82
  51  Bowl            -1.153         1.968          -3.851         0              0              0              58
  52  Cabinet         -0.582         0.388          -1.804         0              0              0
  53  StoveBurner     -1.515         0.928          -3.752         0              90             0
  54  StoveBurner     -1.515         0.928          -3.497         0              0              0
  55  StoveBurner     -1.129         0.928          -3.498         0              0              0
  56  Drawer          -0.749         0.779          -3.551         0              0              0
  57  CounterTop      -0.303         0.951          -2.793         0              0              0
  58  Cabinet         -0.883         2.140          -3.687         0              0              0
  59  Cabinet         -0.312         2.140          -1.543         0              0              0
  60  Sink            -0.349         0.907          -2.014         0              0              0
  61  Cabinet         -0.877         0.388          -3.422         0              0              0
  62  Cabinet         -0.582         0.388          -2.197         0              0              0
  63  Cabinet         -0.584         0.388          -3.396         0              0              0
  64  Cabinet         -0.312         2.140          -2.481         0              0              0
  65  Cabinet         -0.330         1.921          -3.390         0              0              0
  66  Cabinet         -1.764         2.140          -3.687         0              0              0
  67  StoveBurner     -1.129         0.928          -3.752         0              90             0
  68  Drawer          -0.454         0.779          -3.268         0              0              0
  69  Cabinet         -0.302         1.916          -2.501         0              0              0
  70  Microwave       -1.317         1.517          -3.801         0              1.440          0
  71  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  72  LightSwitch     -4.323         1.319          0.0            0              180            0
  73  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  74  Fridge          -0.330         0.0            -0.769         0              270            0
  75  SinkBasin       -0.350         0.786          -2.018         0              270            0
  76  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  77  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  78  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  79  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  80  Toaster         -0.181         0.903          -2.764         0              270            0
  81  Window          -2.503         1.782          -4.185         90             180            0
  82  DiningTable     -2.432         0.000          -1.694         0              270            0
  83  Shelf           -2.432         0.150          -1.694         0              270            0
  84  Blinds          -2.536         2.699          -3.959         0              0              0
  85  Faucet          -0.079         0.904          -2.034         270            180            0
  86  Chair           -3.264         0.002          -2.094         0              53.280         0
  87  Chair           -3.240         0.002          -1.253         0              117.257        0
  88  Shelf           -2.432         0.523          -1.694         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn right and step forward to face the table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and step forward to face the fridge. | STEP 4: Cut the tomato in the fridge into slices. | STEP 5: Look up to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Look up to face the fridge. | STEP 8: Pick up the tomato slice in the fridge. | STEP 9: Turn right and cross the room to face the microwave. | STEP 10: Heat the tomato slice in the microwave and remove it. | STEP 11: Turn around and walk forward and turn right to face the fridge. | STEP 12: Place the tomato slice in the fridge. | END