Task: To heat a 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           -0.75          0.900          2.75           0              270            0
   1  DishSponge      1.495          2.206          4.175          0              0              0              44
   2  DishSponge      0.305          0.759          6.291          0              270            0              89
   3  Pot             1.559          0.988          4.294          0              0              0              51
   4  Spoon           -0.621         0.761          6.479          0              270            0              89
   5  Spoon           -0.345         0.773          0.451          0              180            0              49
   6  Spatula         1.124          0.786          3.429          0              270            0              46
   7  Spatula         1.442          0.905          2.239          0              0              0              76
   8  Fork            -0.096         0.760          6.787          0              0              0              89
   9  Fork            -0.096         0.760          6.941          0              0              0              89
  10  Cup             1.573          0.136          3.143          0              0              0              64
  11  Cup             1.585          2.203          4.087          0              0              0              41
  12  SoapBottle      0.059          0.760          6.698          0              225            0              89
  13  SoapBottle      2.104          0.080          6.498          0              0              0              77
  14  PepperShaker    1.135          0.987          4.670          0              0              0              54
  15  SaltShaker      -0.034         0.755          6.787          0              0              0              89
  16  Bread           -0.422         0.829          6.653          0              135            0              89
  17  Mug             0.014          0.755          6.217          0              135            0              89
  18  Bowl            1.314          0.991          3.044          0              0              0              53
  19  Bread           -0.384         1.062          0.486          0              0              0              53
  20  Egg             2.094          1.565          5.876          0              270            0              75
  21  Knife           -0.687         1.022          0.670          0              180            0              53
  22  Fork            0.213          0.760          6.763          0              225            0              89
  23  Apple           0.064          1.171          0.213          0              0              0              69
  24  Kettle          1.562          0.988          3.848          0              0              0              47
  25  Plate           1.573          0.141          1.864          0              0              0              42
  26  SaltShaker      1.140          1.574          0.119          0              0              0              67
  27  Lettuce         0.923          1.081          0.212          0              0              0              53
  28  SoapBottle      1.135          0.992          4.808          0              0              0              54
  29  Spatula         0.124          0.786          0.396          0              90             0              50
  30  PaperTowelRoll  0.191          0.864          6.393          0              135            0              89
  31  Pot             1.32           0.988          3.848          0              0              0              52
  32  Potato          -0.762         1.027          0.212          0              0              0              53
  33  ButterKnife     1.332          0.896          2.525          0              270            0              76
  34  PepperShaker    1.322          0.135          3.439          0              0              0              64
  35  Pan             1.403          0.990          0.440          0              0              0              53
  36  Tomato          -0.530         0.809          6.196          0              225            0              89
  37  DishSponge      1.238          0.770          4.790          0              0              0              43
  38  Cup             2.137          1.511          5.626          0              270            0              75
  39  Spoon           0.600          0.773          0.395          0              0              0              45
  40  Mug             2.137          1.510          6.001          0              270            0              75
  41  Cabinet         1.307          2.455          4.360          0              0              0
  42  Cabinet         1.054          0.422          1.710          0              0              0
  43  Drawer          1.280          0.808          4.718          0              0              0
  44  Cabinet         1.307          2.455          3.607          0              0              0
  45  Drawer          0.736          0.802          0.521          0              0              0
  46  Drawer          1.276          0.802          3.291          0              0              0
  47  StoveBurner     1.562          0.982          3.848          0              0              0
  48  StoveBurner     1.317          0.982          4.294          0              0              0
  49  Drawer          -0.482         0.802          0.521          0              0              0
  50  Drawer          0.124          0.802          0.521          0              0              0
  51  StoveBurner     1.559          0.982          4.294          0              0              0
  52  StoveBurner     1.320          0.982          3.848          0              0              0
  53  CounterTop      1.391          1.028          0.897          0              0              0
  54  CounterTop      1.391          1.028          4.716          0              0              0
  55  Cabinet         1.054          0.422          4.548          0              0              0
  56  Cabinet         1.317          2.134          0.517          0              0              0
  57  Cabinet         1.317          2.134          4.889          0              0              0
  58  Cabinet         1.317          2.134          3.095          0              0              0
  59  Cabinet         0.443          0.422          0.743          0              0              0
  60  Cabinet         1.270          2.134          0.434          0              0              0
  61  Cabinet         -0.775         0.422          0.743          0              0              0
  62  Cabinet         -0.168         0.422          0.743          0              0              0
  63  Cabinet         1.317          2.134          1.534          0              0              0
  64  Cabinet         1.054          0.422          2.990          0              0              0
  65  Cabinet         1.054          0.422          2.944          0              0              0
  66  Cabinet         -0.263         2.134          0.434          0              0              0
  67  Cabinet         0.252          2.134          0.434          0              0              0
  68  Sink            1.391          1.006          2.326          0              0              0
  69  Microwave       0.108          0.981          0.262          0              0              0
  70  HousePlant      -0.165         0.826          6.444          0              0              0
  71  CoffeeMachine   1.551          0.982          0.953          0              270            0
  72  Toaster         1.473          0.981          4.715          0              270            0
  73  Window          -2.065         1.916          3.626          90             90             0
  74  Window          1.763          2.007          2.299          90             270            0
  75  Fridge          2.035          0.0            5.625          0              0              0
  76  SinkBasin       1.387          0.880          2.338          0              90             0
  77  GarbageCan      2.001          -0.044         6.503          0              0              0
  78  StoveKnob       1.140          0.934          3.987          45             270            0
  79  StoveKnob       1.140          0.934          4.309          45             270            0
  80  StoveKnob       1.140          0.934          4.140          45             270            0
  81  StoveKnob       1.140          0.934          3.824          45             270            0
  82  Vase            -0.226         0.834          6.993          0              0              0
  83  Vase            2.098          0.043          7.070          0              257.232        0
  84  Vase            -0.594         0.835          6.130          0              225            0
  85  LightSwitch     -2.0           1.549          6.045          0              90             0
  86  Safe            2.046          1.072          7.054          0              257.232        0
  87  Faucet          1.534          1.025          2.371          0              294.391        0
  88  Blinds          1.738          2.563          2.312          0              90             0
  89  DiningTable     -0.156         0.000          6.474          0              0              0
  90  Chair           0.291          0.002          6.142          0              310.162        0
  91  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn around and cross the room to face the sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn left and cross the room to face the kitchen table. | STEP 4: Cut the tomato on the table into slices. | STEP 5: Turn right and step forward to face the cabinet on the left end of the counter. | STEP 6: Place the knife in the cabinet on the left end of the counter. | STEP 7: Turn left and step forward to face the tomato on the kitchen table. | STEP 8: Pick up a slice of tomato on the kitchen table. | STEP 9: Turn around 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 cross the room and turn right to face the fridge. | STEP 12: Place the tomato slice in the fridge. | END