Task: Get a slice of tomato into the microwave, next cool it 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           -1.0           0.900          0.0            0              270            0
   1  Pan             1.141          0.911          -0.430         0              0              0              49
   2  Potato          0.053          0.800          -0.596         0              0              0              106
   3  Potato          0.193          0.800          -0.541         0              0              0              106
   4  DishSponge      0.634          0.911          -0.345         0              0              0              49
   5  Pot             0.281          0.964          1.082          0              0              0              55
   6  Spoon           1.862          0.773          1.122          0              0              0              82
   7  Spoon           0.888          0.912          -0.6           0              0              0              49
   8  Fork            1.276          0.771          -0.498         0              90             0              68
   9  Fork            1.524          0.772          -0.422         0              270            0              79
  10  Spatula         1.422          0.926          1.129          0              0              0              84
  11  Spatula         2.488          0.926          1.129          0              0              0              84
  12  Egg             -1.056         0.858          -1.103         0              90             0              108
  13  Egg             2.653          0.762          -0.473         0              0              0              104
  14  Knife           -0.836         0.853          -1.328         0              270            0              108
  15  Knife           0.193          0.798          -0.651         0              0              0              106
  16  Tomato          0.152          0.942          -0.316         0              0              0              49
  17  SaltShaker      -0.766         0.817          -1.360         0              90             0              108
  18  PepperShaker    -0.694         0.817          -1.411         0              90             0              108
  19  PepperShaker    -0.682         0.817          -1.183         0              0              0              108
  20  Bread           -0.246         0.969          1.383          0              0              0              60
  21  Lettuce         -0.983         0.901          -1.360         0              90             0              108
  22  Lettuce         2.488          0.992          1.383          0              0              0              84
  23  Mug             3.381          0.835          -0.485         0              270            0              104
  24  Apple           2.900          1.632          -0.578         0              0              0              104
  25  Apple           -0.103         0.980          1.044          0              0              0              60
  26  SoapBottle      1.955          0.917          1.553          0              0              0              84
  27  Plate           2.211          0.902          -0.462         0              0              0              49
  28  Fork            -0.091         0.772          1.122          0              90             0              54
  29  Pot             1.955          0.915          1.299          0              0              0              84
  30  Bread           2.777          1.346          -0.709         0              0              0              104
  31  Egg             0.054          0.949          -0.330         0              0              0              49
  32  Kettle          0.710          0.9            -0.772         0              0              0              49
  33  Tomato          -0.157         0.797          -0.651         0              0              0              106
  34  Cup             2.962          0.723          -0.473         0              0              0              104
  35  Spatula         -1.056         0.835          -1.155         0              270            0              108
  36  Apple           1.902          0.980          -0.430         0              0              0              49
  37  Pan             0.637          0.960          1.090          0              0              0              52
  38  Lettuce         2.838          1.099          -0.644         0              0              0              104
  39  SaltShaker      -0.055         0.908          1.383          0              0              0              60
  40  Knife           1.688          0.944          1.214          0              0              0              84
  41  Potato          0.466          1.819          1.391          0              180            0              107
  42  PepperShaker    -0.103         0.908          1.214          0              0              0              60
  43  ButterKnife     2.754          0.911          1.044          0              0              0              84
  44  Bowl            0.548          1.652          -0.735         0              180            0              88
  45  DishSponge      -1.991         0.423          1.332          0              270            0              102
  46  Spoon           2.221          0.912          1.299          0              0              0              84
  47  Mug             1.428          0.965          -0.577         0              0              0              49
  48  Sink            0.050          0.902          -0.648         0              0              0
  49  CounterTop      1.358          0.947          -0.600         0              0              0
  50  Cabinet         2.986          2.009          1.304          0              0              0
  51  Cabinet         1.022          2.009          -0.607         0              180            0
  52  StoveBurner     0.678          0.923          1.082          0              0              0
  53  Cabinet         2.371          0.402          0.995          0              0              0
  54  Drawer          -0.125         0.792          0.995          0              0              0
  55  StoveBurner     0.281          0.923          1.082          0              0              0
  56  Cabinet         1.025          0.402          0.995          0              0              0
  57  Cabinet         1.023          0.402          -0.296         0              180            0
  58  Cabinet         0.974          2.259          1.304          0              0              0
  59  Cabinet         0.979          2.009          -0.607         0              180            0
  60  CounterTop      -0.158         0.947          1.299          0              0              0
  61  Cabinet         1.725          2.009          1.304          0              0              0
  62  Drawer          2.205          0.792          -0.294         0              180            0
  63  Drawer          1.869          0.792          -0.294         0              180            0
  64  StoveBurner     0.281          0.923          1.347          0              0              0
  65  Drawer          2.512          0.792          0.995          0              0              0
  66  Cabinet         1.673          0.402          -0.296         0              180            0
  67  Drawer          1.524          0.792          0.995          0              0              0
  68  Drawer          1.174          0.792          -0.294         0              180            0
  69  Cabinet         1.720          0.402          0.995          0              0              0
  70  Cabinet         2.348          2.009          -0.607         0              180            0
  71  Cabinet         1.676          2.009          -0.607         0              180            0
  72  Cabinet         1.673          2.009          1.304          0              0              0
  73  Cabinet         2.326          2.009          1.304          0              0              0
  74  Cabinet         2.370          2.009          1.304          0              0              0
  75  Cabinet         0.021          2.009          1.304          0              0              0
  76  Cabinet         1.025          2.009          1.304          0              0              0
  77  Cabinet         -0.274         0.402          0.995          0              0              0
  78  Cabinet         1.675          0.402          0.995          0              0              0
  79  Drawer          1.524          0.792          -0.294         0              180            0
  80  Drawer          2.187          0.792          0.995          0              0              0
  81  Cabinet         2.977          0.402          0.995          0              0              0
  82  Drawer          1.862          0.792          0.995          0              0              0
  83  Cabinet         0.072          2.259          1.304          0              0              0
  84  CounterTop      1.917          0.947          1.299          0              0              0
  85  Cabinet         2.328          0.402          0.995          0              0              0
  86  Cabinet         1.723          2.009          -0.607         0              180            0
  87  StoveBurner     0.677          0.923          1.345          0              0              0
  88  Cabinet         0.355          2.009          -0.607         0              180            0
  89  Cabinet         0.332          2.009          -0.607         0              180            0
  90  Cabinet         2.349          0.402          -0.296         0              180            0
  91  Cabinet         -0.284         2.009          -0.607         0              180            0
  92  Faucet          0.061          0.906          -0.903         0              0              0
  93  Drawer          2.837          0.792          0.995          0              0              0
  94  Drawer          1.175          0.792          0.995          0              0              0
  95  Cabinet         1.723          0.402          -0.296         0              180            0
  96  StoveKnob       0.588          1.093          1.557          287.970        0              0
  97  StoveKnob       0.188          1.093          1.557          287.970        0              0
  98  StoveKnob       0.749          1.093          1.557          287.970        0              0
  99  StoveKnob       0.338          1.093          1.557          287.970        0              0
 100  Toaster         1.934          0.900          -0.717         0              0              0
 101  LightSwitch     -1.662         1.427          1.649          0              180            0
 102  GarbageCan      -1.965         -0.029         1.358          0              270            0
 103  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 104  Fridge          3.043          0.0            -0.709         0              0              0
 105  Window          -2.183         1.501          -0.014         90             270            0
 106  SinkBasin       0.043          0.755          -0.651         0              0              0
 107  Microwave       0.531          1.675          1.437          0              180            0
 108  DiningTable     -0.836         8.404          -1.258         0              0              0
 109  Chair           -1.611         0.002          -1.185         0              45             0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Turn to the left and walk towards the sink, turn to face the sink | STEP 2: Pick up the knife out of the sink | STEP 3: Go to the other side of the sink with the knife | STEP 4: Put the knife back in the sink | STEP 5: Pick up a slice of tomato | STEP 6: Turn towards the left while holding the tomato | STEP 7: Turn left then right then left again and go on toward the microwave | STEP 8: Put the tomato in the microwave and turn it on for a few seconds, then take it out | STEP 9: Turn right and walk to the fridge | STEP 10: Open the fridge, put the tomato in it and close the door | END