Task: Slice a tomato and store it in the refrigerator

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.901          -3.25          0              180            0
   1  Pan             -2.987         0.912          -3.878         0              270            0              43
   2  Potato          -0.244         0.957          -3.213         0              0              0              43
   3  Potato          -0.160         0.957          -3.012         0              0              0              43
   4  DishSponge      -0.118         1.293          -1.277         0              0              0              49
   5  ButterKnife     -0.419         0.916          -1.493         0              0              0              70
   6  Spoon           -1.638         0.791          -3.790         0              0              0              85
   7  Spoon           -2.740         0.714          -0.922         0              0              0              87
   8  Fork            -2.439         0.717          -0.496         0              270            0              87
   9  Cup             -3.079         0.641          -2.064         0              90             0              84
  10  Tomato          -2.608         0.766          -0.841         0              135            0              87
  11  SoapBottle      -0.334         0.081          -3.411         0              0              0              44
  12  SoapBottle      -1.066         0.079          -3.635         0              0              0              58
  13  Bowl            -3.150         0.714          -0.620         0              270            0              87
  14  Bowl            -0.447         0.911          -3.729         0              0              0              43
  15  SaltShaker      -0.095         0.912          -0.490         0              0              0              70
  16  SaltShaker      -0.039         0.910          -3.804         0              0              0              43
  17  Lettuce         -0.328         1.001          -2.911         0              0              0              43
  18  Mug             -3.286         1.008          -2.002         0              90             0              84
  19  Mug             -0.500         0.911          -1.432         0              0              0              70
  20  Apple           -1.569         0.833          -3.704         0              0              0              85
  21  Apple           -3.234         0.683          -2.125         0              90             0              84
  22  Pot             -0.376         0.975          -2.031         0              180            0              72
  23  Egg             -3.182         0.677          -2.187         0              90             0              84
  24  Cup             -0.338         0.916          -1.493         0              0              0              70
  25  Bread           -2.723         0.757          -0.621         0              270            0              87
  26  Fork            -0.160         0.914          -2.811         0              0              0              43
  27  Pan             -0.394         0.973          -2.414         0              0              0              68
  28  Potato          -0.284         0.123          -0.030         0              270            0              82
  29  Lettuce         -1.324         0.988          -3.759         1.537          253.709        356.850        43
  30  Tomato          -1.058         0.963          -3.952         0              0              0              43
  31  Apple           -0.338         0.958          -0.490         0              0              0              70
  32  SoapBottle      -3.309         0.913          -3.026         0              0              0              43
  33  Spatula         -0.382         0.761          -3.079         0              90             0              73
  34  SaltShaker      -0.452         0.076          -0.605         0              0              0              47
  35  Knife           -0.257         0.948          -1.555         0              90             0              70
  36  PepperShaker    -0.500         0.742          -0.837         0              0              0              69
  37  ButterKnife     -3.346         0.913          -3.729         0              0              0              43
  38  Plate           -0.095         0.914          -1.555         0              0              0              70
  39  DishSponge      -1.914         0.790          -3.661         0              0              0              85
  40  Spoon           -3.167         0.718          -0.797         0              225            0              87
  41  Mug             -3.234         1.008          -1.817         0              180            0              84
  42  Bowl            -3.130         1.396          -1.941         0              90             0              84
  43  CounterTop      -1.789         0.949          -3.803         0              0              0
  44  Cabinet         -0.577         0.388          -3.476         0              0              0
  45  Cabinet         -0.605         0.388          -3.511         0              0              0
  46  Cabinet         -2.976         0.388          -3.201         0              0              0
  47  Cabinet         -0.577         0.388          -0.447         0              0              0
  48  Cabinet         -0.577         0.388          -1.725         0              0              0
  49  Cabinet         -0.226         1.803          -1.743         0              0              0
  50  Cabinet         -0.228         1.799          -0.447         0              0              0
  51  Cabinet         -6.010         1.139          -6.019         0              0              0
  52  Cabinet         -3.022         2.098          -2.681         0              0              0
  53  Cabinet         -3.022         2.098          -1.743         0              0              0
  54  Cabinet         -0.577         0.388          -2.736         0              0              0
  55  Cabinet         -3.232         1.803          -3.343         0              0              0
  56  Cabinet         -2.811         1.810          -3.764         0              0              0
  57  Cabinet         -1.233         1.810          -3.764         0              0              0
  58  Cabinet         -1.364         0.388          -3.511         0              0              0
  59  Cabinet         -1.380         0.388          -3.511         0              0              0
  60  Cabinet         -0.226         1.803          -2.725         0              0              0
  61  Cabinet         -0.236         2.098          -1.767         0              0              0
  62  Cabinet         -0.236         2.098          -2.705         0              0              0
  63  Cabinet         -0.193         1.210          -4.239         0              0              0
  64  Cabinet         -2.148         0.388          -3.511         0              0              0
  65  Drawer          -3.104         0.797          -2.968         0              0              0
  66  Drawer          -0.449         0.797          -1.410         0              0              0
  67  Sink            -1.786         0.902          -3.748         0              0              0
  68  StoveBurner     -0.376         0.936          -2.451         0              0              0
  69  Drawer          -0.449         0.797          -0.762         0              0              0
  70  CounterTop      -0.268         0.951          -1.089         0              0              0
  71  Drawer          -0.449         0.797          -3.348         0              0              0
  72  StoveBurner     -0.376         0.936          -2.031         0              180            0
  73  Drawer          -0.449         0.797          -2.968         0              0              0
  74  StoveBurner     -0.165         0.936          -2.030         0              180            0
  75  StoveBurner     -0.165         0.936          -2.450         0              0              0
  76  StoveKnob       -0.568         0.903          -2.313         45             270            0
  77  StoveKnob       -0.568         0.903          -2.470         45             270            0
  78  StoveKnob       -0.568         0.903          -2.166         45             270            0
  79  StoveKnob       -0.568         0.903          -2.003         45             270            0
  80  Microwave       -0.143         0.903          -0.908         0              270            0
  81  LightSwitch     -1.108         1.457          0.338          0              180            0
  82  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  83  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  84  Fridge          -3.188         0.0            -2.184         0              0              0
  85  SinkBasin       -1.786         0.779          -3.747         0              0              0
  86  Toaster         -0.230         0.903          -3.406         0              270            0
  87  DiningTable     -2.800         0.003          -0.505         0              0              0
  88  Chair           -3.044         0.003          -1.223         0              32.194         0
  89  Faucet          -1.791         1.136          -3.913         0              270            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: turn right to face the corner of the counter top | STEP 2: pick up the knife on the counter | STEP 3: go right, then straight until you reach the kitchen table | STEP 4: lower the knife slightly to the table and slice the tomato | STEP 5: move left to the refrigerator and open the door | STEP 6: place the knife on the shelf above the one with the glass | STEP 7: go back to the kitchen table | STEP 8: pick up one slice of tomato on the table | STEP 9: turn around and walk straight to face the microwave | STEP 10: open the microwave door and place the tomato in the microwave, heat for several seconds, and then remove from the microwave | STEP 11: turn around and go straight to face the refrigerator | STEP 12: open the refrigerator and place the tomato on top of the knife | END