Task: Put the chilled 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           -0.25          0.900          0.25           0              90             0
   1  Pan             0.634          0.911          -0.430         0              0              0              47
   2  Potato          0.363          1.819          1.423          0              180            0              105
   3  Potato          2.777          1.053          -0.644         0              0              0              102
   4  Kettle          1.917          1.656          1.507          0              0              0              71
   5  Kettle          0.678          0.964          1.345          0              0              0              85
   6  ButterKnife     -0.151         0.911          1.468          0              0              0              58
   7  Spoon           -0.734         0.822          -1.255         0              0              0              106
   8  Spoon           2.092          0.773          1.122          0              90             0              78
   9  Fork            1.862          0.772          1.198          0              270            0              80
  10  Cup             2.715          0.723          -0.473         0              0              0              102
  11  Egg             -0.246         0.949          1.299          0              0              0              58
  12  Knife           2.488          0.944          1.129          0              0              0              82
  13  SoapBottle      -1.991         0.429          1.459          0              270            0              100
  14  Tomato          -0.043         0.942          -0.316         0              0              0              47
  15  Tomato          -0.983         0.852          -1.103         0              90             0              106
  16  Tomato          2.221          0.942          1.044          0              0              0              82
  17  Bowl            0.518          1.782          1.455          0              180            0              105
  18  SaltShaker      -0.682         0.817          -1.400         0              0              0              106
  19  SaltShaker      -0.983         0.817          -1.206         0              90             0              106
  20  PepperShaker    1.688          0.908          1.553          0              0              0              82
  21  PepperShaker    -0.621         0.817          -1.308         0              90             0              106
  22  Lettuce         2.754          0.992          1.214          0              0              0              82
  23  Lettuce         2.838          1.644          -0.578         0              0              0              102
  24  SoapBottle      1.955          0.917          1.214          0              0              0              82
  25  Plate           1.422          0.914          1.383          0              0              0              82
  26  Fork            1.175          0.772          1.198          0              270            0              92
  27  Pot             0.297          0.960          1.346          0              0              0              62
  28  Bread           1.03           0.953          -0.519         0              0              0              47
  29  Egg             -2.019         0.461          1.332          0              270            0              100
  30  Kettle          0.281          0.964          1.082          0              0              0              53
  31  Tomato          -0.055         0.942          1.468          0              0              0              58
  32  Cup             1.902          0.909          -0.345         0              0              0              47
  33  Spatula         -0.198         0.926          1.129          0              180            0              58
  34  Apple           2.221          0.980          1.468          0              0              0              82
  35  Pan             0.637          0.960          1.090          0              0              0              50
  36  Lettuce         -0.939         0.901          -1.400         0              0              0              106
  37  SaltShaker      1.484          1.651          -0.654         0              180            0              69
  38  Knife           0.193          0.798          -0.651         0              0              0              104
  39  Potato          0.123          0.800          -0.596         0              0              0              104
  40  PepperShaker    -0.682         0.817          -1.183         0              0              0              106
  41  ButterKnife     2.488          0.911          1.299          0              0              0              82
  42  Bowl            1.135          0.112          -0.421         0              180            0              55
  43  DishSponge      0.480          1.654          -0.773         0              180            0              86
  44  Spoon           1.955          0.912          1.468          0              0              0              82
  45  Mug             -0.734         0.815          -1.038         0              0              0              106
  46  Sink            0.050          0.902          -0.648         0              0              0
  47  CounterTop      1.358          0.947          -0.600         0              0              0
  48  Cabinet         2.986          2.009          1.304          0              0              0
  49  Cabinet         1.022          2.009          -0.607         0              180            0
  50  StoveBurner     0.678          0.923          1.082          0              0              0
  51  Cabinet         2.371          0.402          0.995          0              0              0
  52  Drawer          -0.125         0.792          0.995          0              0              0
  53  StoveBurner     0.281          0.923          1.082          0              0              0
  54  Cabinet         1.025          0.402          0.995          0              0              0
  55  Cabinet         1.023          0.402          -0.296         0              180            0
  56  Cabinet         0.974          2.259          1.304          0              0              0
  57  Cabinet         0.979          2.009          -0.607         0              180            0
  58  CounterTop      -0.158         0.947          1.299          0              0              0
  59  Cabinet         1.725          2.009          1.304          0              0              0
  60  Drawer          2.205          0.792          -0.294         0              180            0
  61  Drawer          1.869          0.792          -0.294         0              180            0
  62  StoveBurner     0.281          0.923          1.347          0              0              0
  63  Drawer          2.512          0.792          0.995          0              0              0
  64  Cabinet         1.673          0.402          -0.296         0              180            0
  65  Drawer          1.524          0.792          0.995          0              0              0
  66  Drawer          1.174          0.792          -0.294         0              180            0
  67  Cabinet         1.720          0.402          0.995          0              0              0
  68  Cabinet         2.348          2.009          -0.607         0              180            0
  69  Cabinet         1.676          2.009          -0.607         0              180            0
  70  Cabinet         1.673          2.009          1.304          0              0              0
  71  Cabinet         2.326          2.009          1.304          0              0              0
  72  Cabinet         2.370          2.009          1.304          0              0              0
  73  Cabinet         0.021          2.009          1.304          0              0              0
  74  Cabinet         1.025          2.009          1.304          0              0              0
  75  Cabinet         -0.274         0.402          0.995          0              0              0
  76  Cabinet         1.675          0.402          0.995          0              0              0
  77  Drawer          1.524          0.792          -0.294         0              180            0
  78  Drawer          2.187          0.792          0.995          0              0              0
  79  Cabinet         2.977          0.402          0.995          0              0              0
  80  Drawer          1.862          0.792          0.995          0              0              0
  81  Cabinet         0.072          2.259          1.304          0              0              0
  82  CounterTop      1.917          0.947          1.299          0              0              0
  83  Cabinet         2.328          0.402          0.995          0              0              0
  84  Cabinet         1.723          2.009          -0.607         0              180            0
  85  StoveBurner     0.677          0.923          1.345          0              0              0
  86  Cabinet         0.355          2.009          -0.607         0              180            0
  87  Cabinet         0.332          2.009          -0.607         0              180            0
  88  Cabinet         2.349          0.402          -0.296         0              180            0
  89  Cabinet         -0.284         2.009          -0.607         0              180            0
  90  Faucet          0.061          0.906          -0.903         0              0              0
  91  Drawer          2.837          0.792          0.995          0              0              0
  92  Drawer          1.175          0.792          0.995          0              0              0
  93  Cabinet         1.723          0.402          -0.296         0              180            0
  94  StoveKnob       0.588          1.093          1.557          287.970        0              0
  95  StoveKnob       0.188          1.093          1.557          287.970        0              0
  96  StoveKnob       0.749          1.093          1.557          287.970        0              0
  97  StoveKnob       0.338          1.093          1.557          287.970        0              0
  98  Toaster         1.934          0.900          -0.717         0              0              0
  99  LightSwitch     -1.662         1.427          1.649          0              180            0
 100  GarbageCan      -1.965         -0.029         1.358          0              270            0
 101  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 102  Fridge          3.043          0.0            -0.709         0              0              0
 103  Window          -2.183         1.501          -0.014         90             270            0
 104  SinkBasin       0.043          0.755          -0.651         0              0              0
 105  Microwave       0.531          1.675          1.437          0              180            0
 106  DiningTable     -0.836         8.404          -1.258         0              0              0
 107  Chair           -1.611         0.002          -1.185         0              45             0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Turn left and walk up to the kitchen counter | STEP 2: Pick up the butter knife from the counter | STEP 3: Use the knife to cut the tomato on the counter | STEP 4: Turn left and walk to the left side of the counter facing back toward the oven | STEP 5: Put the knife down on the counter | STEP 6: Walk forward around the edge of the counter then turn left to face it | STEP 7: Pick up a tomato slice from the counter | STEP 8: Turn left and walk over to the fridge | STEP 9: Put the tomato in the fridge then remove it | STEP 10: Turn right and walk over to the microwave above the stove | STEP 11: Put the tomato slice in the microwave | END