Task: Preparing a slice of tomato and putting it away 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          1.75           0              90             0
   1  Potato          1.813          1.045          -1.245         0              270            0              82
   2  Ladle           -1.391         1.697          -0.353         0              270            0              60
   3  DishSponge      -0.117         0.762          -2.118         0              0              0              87
   4  DishSponge      1.836          1.659          -1.236         0              0              0              54
   5  ButterKnife     -0.375         1.131          0.618          0              0              0              73
   6  ButterKnife     -1.157         0.911          -1.722         0              0              0              77
   7  Kettle          -1.289         0.957          -0.756         0              180            0              52
   8  Spatula         0.969          0.926          -2.098         0              180            0              77
   9  Spoon           -0.290         0.764          -1.952         0              0              0              87
  10  Plate           -0.152         1.129          0.618          0              0              0              73
  11  Plate           1.688          0.115          -1.201         0              0              0              51
  12  Knife           -0.777         0.934          -1.760         0              0              0              77
  13  Knife           -0.634         0.937          0.135          0              90             0              70
  14  Tomato          -0.205         0.963          0.241          0              0              0              70
  15  Tomato          2.000          1.477          -0.271         0              270            0              84
  16  Tomato          1.836          1.477          -0.830         0              270            0              84
  17  SaltShaker      -0.623         0.690          -1.891         0              0              0              47
  18  Lettuce         1.945          0.893          -0.644         0              270            0              84
  19  Pan             -1.056         0.956          -0.672         0              180            0              49
  20  Knife           -1.045         1.155          0.618          0              0              0              73
  21  Bowl            2.694          0.549          0.245          0              180            0              83
  22  Fork            -1.247         0.914          -0.353         0              90             0              70
  23  Cup             0.101          0.750          -1.938         0              0              0              87
  24  Ladle           -1.243         0.925          -0.292         3.313          0              352.445        70
  25  Apple           -0.117         0.811          -1.952         0              0              0              87
  26  Kettle          -1.072         0.137          -0.204         0              0              0              64
  27  Vase            -0.986         0.130          -1.465         0              0              0              63
  28  Potato          -0.376         0.793          -1.897         0              0              0              87
  29  Pot             -1.289         0.957          -1.02          0              0              0              67
  30  Bread           -1.111         0.991          -0.206         0              355.044        351.450        70
  31  Plate           1.891          1.097          -0.551         0              270            0              84
  32  Spatula         -0.205         0.928          0.030          0              0              0              70
  33  PaperTowelRoll  1.884          0.167          0.166          0              0              0              80
  34  Vase            2.699          0.869          0.182          0              0              0              81
  35  Egg             2.055          1.132          -0.458         0              270            0              84
  36  SoapBottle      0.071          1.131          0.662          0              0              0              73
  37  SaltShaker      -0.623         0.690          -1.758         0              0              0              47
  38  Lettuce         1.945          0.893          -0.365         0              270            0              84
  39  PepperShaker    -0.598         1.127          0.529          0              0              0              73
  40  ButterKnife     -0.565         0.911          -1.702         0              0              0              77
  41  DishSponge      1.419          0.910          -2.183         0              0              0              77
  42  Vase            2.979          0.539          0.128          0              0              0              83
  43  Spoon           -1.138         0.912          -2.098         0              0              0              77
  44  Tomato          2.002          0.112          0.166          0              0              0              80
  45  Mug             2.000          0.812          -0.737         0              270            0              84
  46  Statue          -1.239         0.918          -1.553         0              0              0              77
  47  Drawer          -0.819         0.75           -1.690         0              0              0
  48  Cabinet         -1.149         2.264          -0.838         0              90             0
  49  StoveBurner     -1.056         0.949          -0.671         0              180            0
  50  Cabinet         1.738          2.019          -2.000         0              0              0
  51  Cabinet         1.389          0.469          -1.059         0              0              0
  52  StoveBurner     -1.289         0.949          -0.755         0              180            0
  53  Faucet          -0.157         1.052          -2.196         0              270            0
  54  Cabinet         1.75           2.019          -1.029         0              0              0
  55  Cabinet         1.75           2.019          -1.399         0              0              0
  56  Cabinet         1.179          2.019          -2.0           0              0              0
  57  Cabinet         0.199          2.019          -2.0           0              0              0
  58  Cabinet         -1.100         2.019          -2.0           0              0              0
  59  Cabinet         -1.149         2.019          -1.979         0              0              0
  60  Cabinet         -1.149         2.019          -0.770         0              0              0
  61  Cabinet         -1.149         2.019          0.380          0              0              0
  62  Cabinet         -0.819         0.469          -1.689         0              0              0
  63  Cabinet         -0.839         0.469          -1.664         0              0              0
  64  Cabinet         -0.839         0.469          -0.049         0              0              0
  65  Cabinet         -0.414         0.370          -0.009         0              0              0
  66  Sink            -0.118         0.875          -2.009         0              0              0
  67  StoveBurner     -1.289         0.949          -1.019         0              0              0
  68  Cabinet         0.119          2.264          -2.0           0              0              0
  69  Cabinet         -0.459         2.264          -2.0           0              0              0
  70  CounterTop      -0.665         0.949          0.188          0              0              0
  71  Drawer          -0.449         0.75           -0.010         0              180            0
  72  Cabinet         -0.450         0.469          -0.009         0              0              0
  73  CounterTop      -0.630         1.167          0.573          0              0              0
  74  StoveBurner     -1.056         0.949          -1.126         0              0              0
  75  Cabinet         1.376          0.460          -1.685         0              0              0
  76  Drawer          -0.070         0.75           -0.009         0              180            0
  77  CounterTop      1.159          0.946          -2.013         0              0              0
  78  Cabinet         -1.150         2.264          -1.418         0              90             0
  79  HousePlant      -1.246         1.108          0.606          0              0              0
  80  GarbageCan      1.923          -0.010         0.137          0              0              0
  81  Shelf           2.759          0.880          0.144          0              0              0
  82  Microwave       1.827          0.900          -1.354         0              270            0
  83  Shelf           2.759          0.552          0.145          0              0              0
  84  Fridge          1.975          0.0            -0.537         0              0              0
  85  LightSwitch     0.404          1.297          2.0            0              180            0
  86  Shelf           2.760          0.172          0.145          0              0              0
  87  SinkBasin       -0.129         0.752          -2.007         0              0              0
  88  StoveKnob       -0.873         0.903          -0.827         45             90             0
  89  StoveKnob       -0.873         0.903          -0.676         45             90             0
  90  StoveKnob       -0.873         0.903          -0.966         45             90             0
  91  StoveKnob       -0.873         0.903          -1.123         45             90             0
  92  Toaster         0.840          0.900          -2.057         0              0              0
  93  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  94  ShelvingUnit    2.760          0.006          0.144          0              0              0
  95  Stool           -0.826         0.010          0.908          0              347.513        0
  96  Stool           -0.132         0.010          0.883          0              71.555         0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn around towards the counter | STEP 2: Pick up the knife from the counter | STEP 3: Turn left and go towards the trash can that's to the left of the fridge | STEP 4: Cut the tomato in the trash can | STEP 5: Put the knife in the trash can | STEP 6: Pick up a slice of tomato from the trash | STEP 7: go around the fridge on the right side to the counter with the microwave | STEP 8: Open the microwave, put the slice in, close the door, turn it on, wait, open the microwave, take out the slice, close the microwave door | STEP 9: Move to the fridge to the left  | STEP 10: Open the fridge, put the slice in and close the door | END