Task: Slice a tomato, refrigerate it, then microwave it

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.930          1.0            0              90             0
   1  Ladle           1.064          1.711          -1.410         0              270            0              52
   2  ButterKnife     0.007          0.900          -1.435         0              45             0              82
   3  ButterKnife     0.553          0.908          0.379          0              36.810         0              92
   4  Kettle          -1.080         0.901          0.399          0              0              0              61
   5  Kettle          -0.420         0.902          -0.920         0              135            0              56
   6  Pot             3.044          1.464          -1.648         0              270            0              59
   7  Spatula         -0.950         0.533          1.430          0              90             0              49
   8  Spoon           3.028          0.748          0.231          0              180            0              106
   9  Spoon           -0.868         0.327          1.518          0              0              0              96
  10  Fork            0.967          0.908          0.038          0              0              0              92
  11  Fork            3.152          0.713          -0.823         0              90             0              48
  12  Mug             0.773          0.708          -1.381         0              0              0              107
  13  Apple           3.277          0.974          -0.698         0              0              0              60
  14  Apple           1.164          1.147          -1.475         0              0              0              107
  15  Lettuce         3.122          0.966          -0.698         0              0              0              60
  16  SaltShaker      -0.779         0.896          -0.749         0              45             0              61
  17  SoapBottle      0.967          0.917          0.464          0              0              0              92
  18  SoapBottle      3.246          1.273          -0.885         0              0              0              74
  19  Egg             -0.985         1.050          1.470          0              90             0              109
  20  Knife           -0.698         0.925          -0.830         0              135            0              61
  21  Knife           0.622          0.936          0.627          0              0              0              92
  22  Plate           0.808          1.687          -1.480         0              0              0              76
  23  Glassbottle     3.084          0.176          -0.453         0              0              0              72
  24  SoapBottle      3.140          0.186          0.700          0              0              0              70
  25  Potato          3.111          0.785          -0.100         0              90             0              106
  26  Fork            -0.868         0.327          -0.098         0              0              0              66
  27  Ladle           -0.991         0.743          -0.273         0              90             0              68
  28  Pot             0.423          0.900          0.869          0              0              0              92
  29  Kettle          -1.080         0.901          -0.047         0              0              0              61
  30  Spatula         3.069          0.762          0.032          0              90             0              106
  31  Knife           -0.960         0.925          -0.774         0              135            0              61
  32  Lettuce         -0.038         0.965          -1.388         0              45             0              82
  33  Cup             -1.052         0.995          1.258          0              90             0              109
  34  SaltShaker      2.890          1.460          -1.284         0              0              0              75
  35  Egg             -0.985         1.050          1.364          0              90             0              109
  36  PepperShaker    0.772          0.904          0.093          0              36.810         0              92
  37  ButterKnife     -0.935         0.900          0.399          0              0              0              61
  38  Apple           0.929          0.785          -1.407         0              0              0              107
  39  Pan             0.341          0.873          -1.649         0              167.065        0              82
  40  Bread           1.534          0.972          0.486          0              289.287        0              92
  41  CellPhone       0.836          0.908          0.889          0              0              0              92
  42  DishSponge      -0.827         0.517          -0.011         0              0              0              88
  43  Tomato          0.839          0.947          0.530          0              36.810         0              92
  44  Spoon           0.798          0.912          0.627          0              0              0              92
  45  Bowl            2.971          0.174          0.700          0              0              0              70
  46  Mug             3.049          0.966          0.591          0              270            0              104
  47  Drawer          0.376          0.572          -1.509         0              0              0
  48  Drawer          3.020          0.769          -0.783         0              180            0
  49  Drawer          -0.860         0.577          1.429          0              0              0
  50  StoveBurner     -0.600         0.897          -1.090         0              135            0
  51  Drawer          0.376          0.191          -1.509         0              0              0
  52  Cabinet         1.402          1.874          -1.259         0              0              0
  53  Cabinet         -0.202         1.963          -1.328         0              0              0
  54  Drawer          -0.860         0.765          1.429          0              0              0
  55  Drawer          -0.677         0.765          -0.700         0              0              0
  56  StoveBurner     -0.420         0.897          -0.920         0              135            0
  57  Drawer          3.020          0.769          -0.407         0              180            0
  58  Drawer          -0.860         0.577          0.663          0              0              0
  59  Cabinet         2.819          1.768          -1.850         0              0              0
  60  CounterTop      3.111          0.936          0.019          0              0              0
  61  CounterTop      -1.007         0.935          -0.039         0              0              0
  62  Drawer          -0.860         0.385          0.663          0              0              0
  63  StoveBurner     -0.419         0.897          -1.269         0              315            0
  64  Drawer          -0.047         0.573          -1.324         0              0              0
  65  Drawer          -0.860         0.765          0.663          0              0              0
  66  Drawer          -0.860         0.385          -0.100         0              0              0
  67  Drawer          0.376          0.380          -1.509         0              0              0
  68  Drawer          -0.860         0.765          -0.100         0              0              0
  69  Drawer          0.376          0.765          -1.509         0              0              0
  70  Cabinet         2.849          0.419          0.409          0              0              0
  71  Drawer          -0.047         0.765          -1.324         0              0              0
  72  Cabinet         2.849          0.419          -0.610         0              0              0
  73  Cabinet         2.849          0.419          -0.959         0              0              0
  74  Cabinet         3.069          1.666          -0.709         0              0              0
  75  Cabinet         2.819          1.768          -1.047         0              0              0
  76  Cabinet         0.620          1.874          -1.259         0              0              0
  77  Cabinet         0.140          1.666          -1.559         0              0              0
  78  Cabinet         -0.189         1.666          -1.340         0              0              0
  79  Cabinet         -0.709         1.963          -0.819         0              0              0
  80  Cabinet         -0.920         1.665          -0.620         0              0              0
  81  Drawer          -0.860         0.190          -0.100         0              0              0
  82  CounterTop      0.133          0.935          -1.457         0              0              0
  83  Drawer          3.020          0.769          0.695          0              180            0
  84  Drawer          -0.677         0.577          -0.700         0              0              0
  85  Drawer          -0.860         0.190          1.429          0              0              0
  86  Drawer          -0.047         0.192          -1.324         0              0              0
  87  Drawer          -0.677         0.193          -0.700         0              0              0
  88  Drawer          -0.860         0.577          -0.100         0              0              0
  89  Sink            3.078          0.887          0.086          0              0              0
  90  StoveBurner     -0.239         0.897          -1.089         0              315            0
  91  Drawer          -0.860         0.190          0.663          0              0              0
  92  CounterTop      1.210          0.937          0.463          0              0              0
  93  Drawer          -0.047         0.381          -1.324         0              0              0
  94  Drawer          -0.677         0.387          -0.700         0              0              0
  95  Mirror          -1.295         1.630          0.045          0              0              0
  96  Drawer          -0.860         0.385          1.429          0              0              0
  97  HousePlant      3.196          0.891          -0.368         0              0              0
  98  StoveKnob       -0.090         0.790          -1.009         270            45             0
  99  StoveKnob       -0.280         0.790          -0.819         270            45             0
 100  StoveKnob       -0.180         0.790          -0.920         270            45             0
 101  StoveKnob       -0.370         0.790          -0.720         270            45             0
 102  GarbageCan      3.137          0.025          1.545          0              225            0
 103  Window          3.703          1.675          0.046          90             90             0
 104  CoffeeMachine   3.214          0.890          0.697          0              270            0
 105  LightSwitch     2.592          1.309          -1.880         0              0              0
 106  SinkBasin       3.069          0.736          0.108          0              90             0
 107  Fridge          1.008          0.029          -1.467         0              0              0
 108  Toaster         -1.035         0.873          -0.396         0              90             0
 109  Microwave       -1.034         0.874          1.428          0              90             0
 110  Faucet          3.305          0.886          0.094          270            180            0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Turn around and walk towards the kitchen door, hang a right, and go to the counter top directly to the right of the refrigerator. | STEP 2: Pick up the knife that is under the head of lettuce. | STEP 3: Turn around and walk to the left end of the kitchen island. | STEP 4: Slice the tomato located in the middle of the counter top of the kitchen island. | STEP 5: Turn around and carry the knife to the refrigerator. | STEP 6: Open the refrigerator door and place the knife on the shelf directly above the two crisper drawers and in front of the yellow apple, then close the refrigerator door. | STEP 7: Turn around and walk to the left end of the kitchen island. | STEP 8: Pick up a slice from the right side of the tomato as you are facing it. | STEP 9: Turn around and carry the tomato slice to the refrigerator and open the refrigerator door. | STEP 10: Place the tomato slice on the shelf directly above the two crisper drawers and behind the blade end of the knife and to the left of the yellow apple, close the door; open the refrigerator door and pick up the tomato slice. | STEP 11: Turn around and walk to the microwave oven on the counter top across from the left end of the kitchen island. | STEP 12: Open the microwave oven door, place the tomato slice on the left side of the plate in front of the brown bowl, close the oven door. | END