Task: Put a heated tomato slice in the freezer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          2.25           0              0              0
   1  Potato          0.014          0.794          6.217          0              135            0              98
   2  Potato          1.966          1.550          5.751          0              270            0              84
   3  DishSponge      1.442          0.890          2.576          0              90             0              85
   4  DishSponge      1.403          0.992          3.137          0              0              0              62
   5  ButterKnife     -0.158         0.760          6.354          0              0              0              98
   6  ButterKnife     0.104          0.760          6.653          0              225            0              98
   7  Pot             1.562          0.988          3.848          0              0              0              56
   8  Spoon           -0.158         0.761          6.541          0              0              0              98
   9  Fork            1.403          0.993          3.417          0              0              0              62
  10  Egg             1.907          0.130          6.469          0              0              0              86
  11  Plate           1.573          0.141          2.646          0              0              0              74
  12  Knife           1.292          0.801          3.360          0              0              0              55
  13  Knife           -0.487         0.789          6.807          0              135            0              98
  14  Tomato          0.301          0.809          6.674          0              225            0              98
  15  Tomato          2.094          1.565          5.501          0              270            0              84
  16  Tomato          2.137          1.565          5.876          0              270            0              84
  17  SoapBottle      2.104          0.080          6.409          0              0              0              86
  18  SoapBottle      -0.442         0.760          6.107          0              225            0              98
  19  Bowl            1.406          0.139          3.365          0              0              0              73
  20  Bowl            0.125          0.759          6.851          0              225            0              98
  21  PepperShaker    1.135          0.987          4.853          0              0              0              63
  22  Lettuce         1.403          1.081          0.440          0              0              0              62
  23  Lettuce         0.150          0.848          6.479          0              270            0              98
  24  Mug             -0.074         1.574          0.251          0              0              0              75
  25  Apple           0.273          1.171          0.278          0              0              0              78
  26  Apple           0.064          1.171          0.310          0              0              0              78
  27  Bowl            1.486          0.140          4.724          0              0              0              64
  28  Bread           -0.687         1.062          0.303          0              0              0              62
  29  Egg             2.009          1.565          5.251          0              270            0              84
  30  Knife           1.387          0.920          2.525          0              90             0              85
  31  Fork            -0.685         0.772          0.395          0              90             0              58
  32  Apple           1.135          1.067          4.716          0              0              0              63
  33  Kettle          1.543          1.578          1.288          0              0              0              72
  34  Plate           1.490          0.141          2.012          0              0              0              51
  35  SaltShaker      0.262          0.139          0.353          0              0              0              71
  36  Lettuce         -0.284         0.848          6.941          0              0              0              98
  37  SoapBottle      -0.421         0.760          6.305          0              225            0              98
  38  Spatula         -0.079         0.786          0.396          0              90             0              59
  39  PaperTowelRoll  0.999          1.096          0.670          0              0              0              62
  40  Pot             1.559          0.988          4.294          0              0              0              60
  41  Potato          1.332          0.931          2.525          0              270            0              85
  42  ButterKnife     -0.096         0.760          6.787          0              0              0              98
  43  PepperShaker    0.837          1.574          0.383          0              0              0              76
  44  Pan             1.313          0.985          4.284          0              0              0              57
  45  Tomato          2.137          1.565          5.626          0              270            0              84
  46  DishSponge      1.143          0.141          4.686          0              0              0              64
  47  Cup             1.966          1.511          5.876          0              270            0              84
  48  Spoon           -0.413         0.773          0.451          0              0              0              58
  49  Mug             2.051          1.510          6.001          0              270            0              84
  50  Cabinet         1.307          2.455          4.360          0              0              0
  51  Cabinet         1.054          0.422          1.710          0              0              0
  52  Drawer          1.280          0.808          4.718          0              0              0
  53  Cabinet         1.307          2.455          3.607          0              0              0
  54  Drawer          0.736          0.802          0.521          0              0              0
  55  Drawer          1.276          0.802          3.291          0              0              0
  56  StoveBurner     1.562          0.982          3.848          0              0              0
  57  StoveBurner     1.317          0.982          4.294          0              0              0
  58  Drawer          -0.482         0.802          0.521          0              0              0
  59  Drawer          0.124          0.802          0.521          0              0              0
  60  StoveBurner     1.559          0.982          4.294          0              0              0
  61  StoveBurner     1.320          0.982          3.848          0              0              0
  62  CounterTop      1.391          1.028          0.897          0              0              0
  63  CounterTop      1.391          1.028          4.716          0              0              0
  64  Cabinet         1.054          0.422          4.548          0              0              0
  65  Cabinet         1.317          2.134          0.517          0              0              0
  66  Cabinet         1.317          2.134          4.889          0              0              0
  67  Cabinet         1.317          2.134          3.095          0              0              0
  68  Cabinet         0.443          0.422          0.743          0              0              0
  69  Cabinet         1.270          2.134          0.434          0              0              0
  70  Cabinet         -0.775         0.422          0.743          0              0              0
  71  Cabinet         -0.168         0.422          0.743          0              0              0
  72  Cabinet         1.317          2.134          1.534          0              0              0
  73  Cabinet         1.054          0.422          2.990          0              0              0
  74  Cabinet         1.054          0.422          2.944          0              0              0
  75  Cabinet         -0.263         2.134          0.434          0              0              0
  76  Cabinet         0.252          2.134          0.434          0              0              0
  77  Sink            1.391          1.006          2.326          0              0              0
  78  Microwave       0.108          0.981          0.262          0              0              0
  79  HousePlant      -0.165         0.826          6.444          0              0              0
  80  CoffeeMachine   1.551          0.982          0.953          0              270            0
  81  Toaster         1.473          0.981          4.715          0              270            0
  82  Window          -2.065         1.916          3.626          90             90             0
  83  Window          1.763          2.007          2.299          90             270            0
  84  Fridge          2.035          0.0            5.625          0              0              0
  85  SinkBasin       1.387          0.880          2.338          0              90             0
  86  GarbageCan      2.001          -0.044         6.503          0              0              0
  87  StoveKnob       1.140          0.934          3.987          45             270            0
  88  StoveKnob       1.140          0.934          4.309          45             270            0
  89  StoveKnob       1.140          0.934          4.140          45             270            0
  90  StoveKnob       1.140          0.934          3.824          45             270            0
  91  Vase            -0.226         0.834          6.993          0              0              0
  92  Vase            2.098          0.043          7.070          0              257.232        0
  93  Vase            -0.594         0.835          6.130          0              225            0
  94  LightSwitch     -2.0           1.549          6.045          0              90             0
  95  Safe            2.046          1.072          7.054          0              257.232        0
  96  Faucet          1.534          1.025          2.371          0              294.391        0
  97  Blinds          1.738          2.563          2.312          0              90             0
  98  DiningTable     -0.156         0.000          6.474          0              0              0
  99  Chair           0.291          0.002          6.142          0              310.162        0
 100  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Go forward and go to the right side of the gray round table.  | STEP 2: Pick up the gray knife between the lettuce and the gray bowl. | STEP 3: Slice the tomato on the table.  | STEP 4: Turn left and go to the front of the refrigerator. | STEP 5: Place the gray knife in the freezer | STEP 6: Turn left to go back to the table with the sliced tomato.  | STEP 7: Pick up one end slice of the tomato from the table.  | STEP 8: Turn left and go to the microwave across the kitchen. | STEP 9: Remove the tomato slice after heating it in the microwave next to the apples.  | STEP 10: Turn around and go back to the refrigerator. | STEP 11: Place the tomato slice in the freezer on the right of the gray knife. | END