Task: Putting a tomato slice 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           -2.25          0.901          -1.5           0              180            0
   1  DishSponge      -0.243         0.913          -3.729         0              0              0              42
   2  DishSponge      -0.153         1.867          -2.052         0              0              0              60
   3  Spoon           -1.638         0.791          -3.790         0              0              0              84
   4  Spoon           -2.664         0.718          -0.294         0              225            0              86
   5  Fork            -1.914         0.791          -3.704         0              270            0              84
   6  Fork            -0.530         0.746          -1.331         0              90             0              65
   7  Egg             -0.500         0.951          -1.370         0              0              0              69
   8  Egg             -0.500         0.951          -1.555         0              0              0              69
   9  Plate           -3.346         0.911          -3.878         0              0              0              42
  10  Plate           -3.130         1.397          -1.879         0              90             0              83
  11  SoapBottle      -2.581         0.716          -0.371         0              270            0              86
  12  SoapBottle      -0.193         0.079          0.055          0              270            0              81
  13  Bowl            -3.176         1.865          -2.029         0              0              0              52
  14  SaltShaker      -1.614         0.079          -3.791         0              0              0              58
  15  SaltShaker      -0.257         0.912          -0.524         0              0              0              69
  16  PepperShaker    -2.803         0.713          -0.069         0              0              0              86
  17  PepperShaker    -0.039         0.910          -3.878         0              0              0              42
  18  Bread           -2.581         0.757          -0.621         0              270            0              86
  19  Mug             -0.189         1.007          -0.950         0              270            0              79
  20  Apple           -1.569         0.833          -3.704         0              0              0              84
  21  Pot             -0.376         0.975          -2.031         0              180            0              71
  22  Egg             -1.983         0.826          -3.747         0              0              0              84
  23  Cup             -1.058         0.914          -3.729         0              0              0              42
  24  Bread           -3.066         0.754          -0.697         0              225            0              86
  25  Fork            -2.740         0.717          -0.922         0              0              0              86
  26  Pan             -0.376         0.975          -2.451         0              0              0              67
  27  Potato          -0.496         0.957          -3.213         0              0              0              42
  28  Lettuce         -0.447         1.001          -3.729         0              0              0              42
  29  Tomato          -0.257         0.965          -1.616         0              0              0              69
  30  Apple           -3.182         0.683          -1.879         0              90             0              83
  31  SoapBottle      -1.867         0.081          -3.635         0              0              0              63
  32  Spatula         -3.155         0.731          -0.608         0              315            0              86
  33  SaltShaker      -3.176         1.864          -2.624         0              0              0              51
  34  Knife           -3.150         0.749          -0.558         0              90             0              86
  35  PepperShaker    -2.696         0.710          -0.930         0              135            0              86
  36  ButterKnife     -0.338         0.916          -0.455         0              0              0              69
  37  Plate           -0.854         0.911          -3.729         0              0              0              42
  38  DishSponge      -3.140         0.746          -3.023         0              0              0              64
  39  Spoon           -0.530         0.748          -0.685         0              90             0              68
  40  Mug             -3.199         0.708          -0.427         0              135            0              86
  41  Bowl            -3.130         1.011          -2.125         0              90             0              83
  42  CounterTop      -1.789         0.949          -3.803         0              0              0
  43  Cabinet         -0.577         0.388          -3.476         0              0              0
  44  Cabinet         -0.605         0.388          -3.511         0              0              0
  45  Cabinet         -2.976         0.388          -3.201         0              0              0
  46  Cabinet         -0.577         0.388          -0.447         0              0              0
  47  Cabinet         -0.577         0.388          -1.725         0              0              0
  48  Cabinet         -0.226         1.803          -1.743         0              0              0
  49  Cabinet         -0.228         1.799          -0.447         0              0              0
  50  Cabinet         -6.010         1.139          -6.019         0              0              0
  51  Cabinet         -3.022         2.098          -2.681         0              0              0
  52  Cabinet         -3.022         2.098          -1.743         0              0              0
  53  Cabinet         -0.577         0.388          -2.736         0              0              0
  54  Cabinet         -3.232         1.803          -3.343         0              0              0
  55  Cabinet         -2.811         1.810          -3.764         0              0              0
  56  Cabinet         -1.233         1.810          -3.764         0              0              0
  57  Cabinet         -1.364         0.388          -3.511         0              0              0
  58  Cabinet         -1.380         0.388          -3.511         0              0              0
  59  Cabinet         -0.226         1.803          -2.725         0              0              0
  60  Cabinet         -0.236         2.098          -1.767         0              0              0
  61  Cabinet         -0.236         2.098          -2.705         0              0              0
  62  Cabinet         -0.193         1.210          -4.239         0              0              0
  63  Cabinet         -2.148         0.388          -3.511         0              0              0
  64  Drawer          -3.104         0.797          -2.968         0              0              0
  65  Drawer          -0.449         0.797          -1.410         0              0              0
  66  Sink            -1.786         0.902          -3.748         0              0              0
  67  StoveBurner     -0.376         0.936          -2.451         0              0              0
  68  Drawer          -0.449         0.797          -0.762         0              0              0
  69  CounterTop      -0.268         0.951          -1.089         0              0              0
  70  Drawer          -0.449         0.797          -3.348         0              0              0
  71  StoveBurner     -0.376         0.936          -2.031         0              180            0
  72  Drawer          -0.449         0.797          -2.968         0              0              0
  73  StoveBurner     -0.165         0.936          -2.030         0              180            0
  74  StoveBurner     -0.165         0.936          -2.450         0              0              0
  75  StoveKnob       -0.568         0.903          -2.313         45             270            0
  76  StoveKnob       -0.568         0.903          -2.470         45             270            0
  77  StoveKnob       -0.568         0.903          -2.166         45             270            0
  78  StoveKnob       -0.568         0.903          -2.003         45             270            0
  79  Microwave       -0.143         0.903          -0.908         0              270            0
  80  LightSwitch     -1.108         1.457          0.338          0              180            0
  81  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  82  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  83  Fridge          -3.188         0.0            -2.184         0              0              0
  84  SinkBasin       -1.786         0.779          -3.747         0              0              0
  85  Toaster         -0.230         0.903          -3.406         0              270            0
  86  DiningTable     -2.800         0.003          -0.505         0              0              0
  87  Chair           -3.044         0.003          -1.223         0              32.194         0
  88  Faucet          -1.791         1.136          -3.913         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn around and face the counter to the left of the microwave | STEP 2: Grab the knife that is to the left of the microwave | STEP 3: Turn right and face the counter on the right of the microwave | STEP 4: Cut the tomato on the counter into slices | STEP 5: Turn left and stop at the microwave | STEP 6: Put the knife into the microwave | STEP 7: Turn right and stop at the counter on the right of the microwave | STEP 8: Pick up a slice of the tomato | STEP 9: Turn left and stop at the microwave | STEP 10: Heat the tomato in the microwave and then take it out | STEP 11: Turn around and head to the fridge | STEP 12: Put the tomato in the fridge | END