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           -2.75          0.914          0.25           0              90             0
   1  Potato          -1.787         0.923          0.358          0              270            0              80
   2  WineBottle      -1.787         0.892          0.255          0              90             0              80
   3  Spoon           -0.994         0.892          0.358          0              270            0              80
   4  Spoon           -1.921         0.790          3.737          0              0              0              74
   5  Pot             -3.424         0.966          2.374          0              0              0              50
   6  Cup             -0.206         1.541          4.067          0              180            0              70
   7  Plate           -3.559         0.919          1.273          0              0              0              53
   8  Knife           -1.523         0.915          -0.053         0              180            0              80
   9  Tomato          -1.127         0.960          0.152          0              90             0              80
  10  Tomato          -3.081         0.984          1.440          0              0              0              53
  11  Tomato          -1.192         0.155          3.820          0              270            0              76
  12  SoapBottle      -1.655         0.891          0.255          0              90             0              80
  13  SoapBottle      -0.994         0.891          0.152          0              90             0              80
  14  SaltShaker      -3.126         0.741          1.433          0              0              0              45
  15  PepperShaker    -3.508         1.455          1.227          0              0              0              62
  16  PepperShaker    -3.081         0.912          1.273          0              0              0              53
  17  Lettuce         -3.559         1.001          2.844          0              0              0              44
  18  Bread           -1.127         0.972          0.461          0              90             0              80
  19  Bread           -1.391         0.972          0.049          0              90             0              80
  20  Mug             -3.426         0.945          3.275          0              90             0              44
  21  Egg             -2.503         0.950          4.214          0              0              0              44
  22  Knife           -1.523         0.915          0.461          0              270            0              80
  23  Fork            -1.787         0.892          0.461          0              90             0              80
  24  Bread           -3.081         0.996          3.336          0              0              0              44
  25  Potato          -3.368         0.948          1.440          0              0              0              53
  26  Plate           -3.005         0.904          3.677          0              0              0              44
  27  Pot             -3.424         0.966          1.971          0              0              0              52
  28  Kettle          -3.191         0.084          1.513          0              0              0              63
  29  WineBottle      -3.538         1.455          3.729          0              0              0              61
  30  Bowl            -1.127         0.890          -0.053         0              90             0              80
  31  Tomato          -0.673         1.610          4.067          0              180            0              70
  32  Cup             -0.790         0.986          3.926          0              180            0              70
  33  Spatula         -1.127         0.906          0.049          0              180            0              80
  34  SoapBottle      -3.471         1.454          3.504          0              0              0              61
  35  Lettuce         -2.302         1.001          3.998          0              0              0              44
  36  Pan             -2.614         0.902          3.620          0              0              0              44
  37  Apple           -0.673         1.046          4.114          0              180            0              70
  38  SaltShaker      -3.068         0.742          1.125          0              0              0              45
  39  PepperShaker    -3.185         0.742          1.202          0              0              0              45
  40  ButterKnife     -1.259         0.891          0.255          0              90             0              80
  41  DishSponge      -3.540         1.458          1.152          0              0              0              62
  42  Spoon           -1.666         0.790          3.7            0              0              0              74
  43  Mug             -3.525         1.990          2.305          0              0              0              59
  44  CounterTop      -3.381         0.950          3.335          0              0              0
  45  Drawer          -3.121         0.775          1.357          0              0              0
  46  Drawer          -3.121         0.777          2.916          0              0              0
  47  StoveBurner     -3.148         0.958          2.374          0              0              0
  48  Sink            -1.797         0.917          3.660          0              0              0
  49  Cabinet         -1.421         0.388          3.459          0              0              0
  50  StoveBurner     -3.424         0.958          2.374          0              0              0
  51  Cabinet         -3.365         1.931          2.676          0              0              0
  52  StoveBurner     -3.424         0.958          1.971          0              0              0
  53  CounterTop      -3.381         0.951          1.356          0              0              0
  54  Drawer          -3.121         0.781          3.295          0              0              0
  55  Cabinet         -2.205         0.388          3.459          0              0              0
  56  Cabinet         -2.963         0.388          3.459          0              0              0
  57  Cabinet         -2.992         0.388          2.683          0              0              0
  58  Cabinet         -3.352         2.205          1.715          0              0              0
  59  Cabinet         -3.352         2.205          2.653          0              0              0
  60  Cabinet         -2.189         0.388          3.466          0              0              0
  61  Cabinet         -3.365         1.931          3.963          0              0              0
  62  Cabinet         -3.365         1.931          1.056          0              0              0
  63  Cabinet         -2.992         0.388          1.037          0              0              0
  64  StoveBurner     -3.143         0.958          1.971          0              0              0
  65  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  66  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  67  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  68  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  69  Toaster         -2.654         0.902          4.064          0              180            0
  70  Fridge          -0.439         0.014          3.996          0              0              0
  71  LightSwitch     0.25           1.383          2.085          0              270            0
  72  Window          -1.430         1.338          -0.347         90             0              0
  73  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  74  SinkBasin       -1.802         0.778          3.700          0              0              0
  75  Microwave       -3.484         1.430          2.182          0              90             0
  76  GarbageCan      -1.184         -0.020         3.794          0              270            0
  77  Blinds          -1.404         2.092          -0.296         0              0              0
  78  Stool           -1.373         0.014          1.048          1.214          20.754         0
  79  Faucet          -1.788         0.903          3.931          270            90             0
  80  DiningTable     -1.399         0.010          0.238          0              0              0
  81  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

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