Task: place a cold tomato slice in the microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.901          0.25           0              270            0
   1  Potato          2.059          0.378          -0.460         0              270            0              77
   2  WineBottle      0.637          0.082          2.484          0              0              0              63
   3  DishSponge      2.206          1.500          1.916          0              0              0              59
   4  ButterKnife     -0.272         0.791          1.217          0              0              0              83
   5  ButterKnife     -0.042         0.791          1.386          0              0              0              83
   6  Spatula         1.223          0.810          2.750          0              270            0              80
   7  Fork            2.227          0.938          2.063          0              90             0              56
   8  Cup             -0.115         0.079          2.265          0              0              0              50
   9  Cup             0.288          0.935          2.688          0              0              0              56
  10  Plate           2.164          0.606          -0.369         0              270            0              77
  11  Knife           2.024          0.771          2.197          0              270            0              71
  12  Knife           -0.042         0.816          1.217          0              0              0              83
  13  SoapBottle      0.288          0.938          2.478          0              0              0              56
  14  Tomato          0.033          0.837          1.049          0              0              0              83
  15  Bowl            1.227          0.078          2.484          0              0              0              62
  16  SaltShaker      2.225          0.933          0.806          0              0              0              67
  17  SaltShaker      -0.042         0.785          0.545          0              0              0              83
  18  PepperShaker    0.495          0.076          2.445          0              0              0              63
  19  PepperShaker    0.033          0.785          0.377          0              0              0              83
  20  Bread           2.112          1.371          -0.279         0              270            0              77
  21  Lettuce         2.059          0.400          -0.188         0              0              0              77
  22  Mug             2.064          0.989          2.462          0              225            0              82
  23  Apple           -0.396         0.987          2.548          0              0              0              56
  24  Apple           -0.395         1.085          2.068          0              90             0              81
  25  Egg             -0.349         0.833          0.881          0              0              0              83
  26  Lettuce         0.033          0.852          0.713          0              0              0              83
  27  Fork            0.002          0.747          2.061          0              0              0              55
  28  SoapBottle      -0.042         0.782          0.881          0              0              0              83
  29  Ladle           -0.282         0.982          2.548          0              0              0              56
  30  Ladle           -0.096         0.942          2.546          6.838          45             340.406        56
  31  Bread           -0.201         0.823          0.813          0              0              1.093          83
  32  SaltShaker      0.174          0.932          2.827          0              0              0              56
  33  Potato          2.207          0.642          -0.097         0              270            0              77
  34  Pan             2.140          0.935          1.504          0              180            0              51
  35  WineBottle      1.840          0.939          0.583          0              0              0              67
  36  Spatula         1.118          0.810          2.584          0              90             0              80
  37  Knife           -0.138         0.772          2.197          0              270            0              55
  38  Tomato          -0.349         0.837          1.217          0              0              0              83
  39  Apple           1.840          0.988          0.731          0              0              0              67
  40  ButterKnife     -0.272         0.791          1.386          0              0              0              83
  41  Pot             1.854          0.937          1.497          0              0              0              60
  42  PepperShaker    1.925          0.077          1.915          0              0              0              52
  43  Cup             0.576          0.793          2.529          0              0              0              80
  44  DishSponge      2.203          1.503          0.725          0              0              0              64
  45  Plate           -0.312         0.781          0.409          0              0              0              83
  46  Spoon           1.954          0.746          2.060          0              0              0              71
  47  Mug             2.096          0.333          -0.007         0              270            0              77
  48  Bowl            2.165          1.500          0.388          0              0              0              54
  49  Cabinet         2.041          2.113          2.618          0              0              0
  50  Cabinet         0.126          0.388          1.774          0              0              0
  51  StoveBurner     2.140          0.929          1.504          0              180            0
  52  Cabinet         1.760          0.388          2.346          0              0              0
  53  Cabinet         1.760          0.388          0.869          0              0              0
  54  Cabinet         2.041          1.810          0.283          0              0              0
  55  Drawer          -0.024         0.774          2.061          0              0              0
  56  CounterTop      1.065          0.973          2.666          0              0              0
  57  Cabinet         1.969          2.113          2.618          0              0              0
  58  StoveBurner     2.140          0.929          1.106          0              0              0
  59  Cabinet         2.041          2.113          1.809          0              0              0
  60  StoveBurner     1.866          0.929          1.504          0              180            0
  61  Cabinet         2.041          2.113          1.766          0              0              0
  62  Cabinet         1.514          0.388          2.360          0              0              0
  63  Cabinet         0.351          0.388          2.360          0              0              0
  64  Cabinet         2.041          1.810          0.872          0              0              0
  65  Drawer          2.167          0.774          0.582          0              0              0
  66  Cabinet         2.041          2.113          0.892          0              0              0
  67  CounterTop      2.060          0.973          0.583          0              0              0
  68  Sink            0.935          0.936          2.646          0              0              0
  69  Curtains        0.964          2.061          2.989          0              0              0
  70  StoveBurner     1.863          0.929          1.106          0              0              0
  71  Drawer          1.911          0.774          2.060          0              0              0
  72  StoveKnob       2.326          1.092          1.610          288.013        90             0
  73  StoveKnob       2.326          1.092          1.460          288.013        90             0
  74  StoveKnob       2.326          1.092          1.210          288.013        90             0
  75  StoveKnob       2.326          1.092          1.050          288.013        90             0
  76  Toaster         2.126          0.926          0.572          0              270            0
  77  Fridge          2.104          0.0            -0.279         0              270            0
  78  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  79  LightSwitch     0.354          1.518          -1.031         0              0              0
  80  SinkBasin       0.903          0.784          2.640          0              0              0
  81  Microwave       -0.310         0.926          2.077          0              90             0
  82  CoffeeMachine   2.084          0.927          2.667          0              225            0
  83  DiningTable     -0.153         -0.000         1.073          0              270            0
  84  Faucet          1.175          0.926          2.950          270            90             0
  85  Faucet          0.686          0.926          2.950          270            90             0
  86  Chair           -0.077         0.002          0.196          0              15.000         0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: turn right to the table | STEP 2: pick up the knife  | STEP 3: turn around to the tomato | STEP 4: slice the tomato with the knife | STEP 5: turn around to the cupboard  | STEP 6: drop the knife in it | STEP 7: turn around to the slice | STEP 8: pick up a tomato slice | STEP 9: lead to the fridge | STEP 10: place the tomato to cool and then take it out | STEP 11: turn around and head to the microwave | STEP 12: place the tomato in the microwave | END