Task: To cool a slice of tomato plus store it 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           0.5            0.900          1.25           0              90             0
   1  Potato          -1.065         1.531          0.195          0              90             0              76
   2  Potato          -0.710         0.970          0.843          0              0              0              69
   3  DishSponge      -1.211         0.937          2.159          0              0              0              44
   4  Spoon           1.669          0.939          0.873          0              0              0              49
   5  Spoon           -0.792         0.747          0.779          0              180            0              67
   6  Spatula         1.439          0.952          0.739          0              90             0              49
   7  Spatula         -0.896         0.761          1.050          0              270            0              67
   8  Pot             -1.109         0.930          1.470          0              0              0              46
   9  Egg             1.550          0.979          1.840          0              180            0              71
  10  Cup             -0.999         1.948          1.830          0              0              0              59
  11  Cup             -1.012         0.813          0.195          0              90             0              76
  12  Knife           -0.876         0.959          1.076          0              0              0              69
  13  Tomato          -1.209         0.999          0.998          0              0              0              69
  14  SoapBottle      1.418          0.100          0.272          0              0              0              54
  15  SoapBottle      -0.868         0.083          0.845          0              0              0              56
  16  Bowl            -0.976         0.562          0.042          0              90             0              76
  17  Bowl            -1.038         1.824          0.356          0              0              0              58
  18  SaltShaker      1.787          0.934          1.780          0              0              0              49
  19  SaltShaker      -1.209         0.934          1.154          0              0              0              69
  20  Mug             1.528          1.002          2.345          0              270            0              49
  21  Mug             -1.065         1.314          0.118          0              90             0              76
  22  Apple           1.587          1.645          1.598          0              270            0              83
  23  Lettuce         1.456          1.014          1.681          3.862          59.981         0              71
  24  SoapBottle      1.489          0.069          2.912          0              0              0              82
  25  Bread           -0.923         0.990          2.265          0              302.470        0              44
  26  Fork            -0.793         0.938          0.921          0              0              0              69
  27  Tomato          -1.126         0.999          0.687          0              0              0              69
  28  Bowl            -0.971         1.495          0.042          0              90             0              76
  29  Pot             -1.109         0.930          1.865          0              0              0              68
  30  Spatula         -0.876         0.952          0.765          0              0              0              69
  31  Knife           1.448          0.768          1.052          0              270            0              74
  32  SaltShaker      -1.154         1.825          -0.035         0              0              0              57
  33  Apple           -0.971         1.368          -0.034         0              90             0              76
  34  PepperShaker    1.344          0.743          2.188          0              0              0              47
  35  ButterKnife     -0.793         0.937          1.154          0              0              0              69
  36  Potato          -0.840         0.232          -0.044         0              90             0              76
  37  Plate           1.391          0.086          2.321          0              0              0              53
  38  DishSponge      -0.764         0.081          2.313          0              0              0              65
  39  Egg             1.597          0.979          1.589          0              180            0              71
  40  Cup             -1.211         0.936          2.386          0              0              0              44
  41  Pan             1.378          1.737          0.392          0              270            0              52
  42  Spoon           -0.960         0.939          0.921          0              0              0              69
  43  Mug             1.422          0.838          1.341          0              0              0              86
  44  CounterTop      -0.973         0.973          2.386          0              0              0
  45  Drawer          -0.783         0.774          2.381          0              180            0
  46  StoveBurner     -1.108         0.922          1.470          0              0              0
  47  Drawer          1.370          0.774          2.391          0              0              0
  48  Stool           -0.748         0.008          3.116          0              0              0
  49  CounterTop      1.504          0.973          2.309          0              0              0
  50  Cabinet         1.219          1.388          0.591          0              0              0
  51  Cabinet         1.500          2.113          1.164          0              0              0
  52  Cabinet         1.219          2.010          0.591          0              0              0
  53  Cabinet         1.219          0.388          2.105          0              0              0
  54  Cabinet         1.219          0.553          0.591          0              0              0
  55  Cabinet         -0.913         2.113          1.164          0              0              0
  56  Cabinet         -0.633         0.388          0.627          0              0              0
  57  Cabinet         -0.913         2.050          -0.329         0              0              0
  58  Cabinet         -0.913         2.113          0.583          0              0              0
  59  Cabinet         -0.913         2.113          2.082          0              0              0
  60  Cabinet         -0.913         2.113          1.207          0              0              0
  61  Cabinet         1.500          2.113          2.082          0              0              0
  62  Cabinet         1.500          2.113          1.207          0              0              0
  63  Cabinet         1.500          1.810          2.691          0              0              0
  64  Cabinet         1.500          1.810          2.101          0              0              0
  65  Cabinet         -0.633         0.388          2.105          0              0              0
  66  Cabinet         -0.911         1.810          2.700          0              180            0
  67  Drawer          -0.783         0.774          0.915          0              180            0
  68  StoveBurner     -1.108         0.922          1.865          0              0              0
  69  CounterTop      -0.972         0.973          0.921          0              0              0
  70  Cabinet         1.219          0.388          0.631          0              0              0
  71  Sink            1.544          0.869          1.639          0              180            0
  72  StoveBurner     -0.832         0.922          1.865          0              0              0
  73  StoveBurner     -0.831         0.922          1.470          0              0              0
  74  Drawer          1.370          0.774          0.916          0              0              0
  75  Cabinet         -0.911         1.810          2.111          0              180            0
  76  Fridge          -1.001         0.0            0.119          0              0              0
  77  StoveKnob       -0.648         0.926          1.923          0              270            0
  78  StoveKnob       -0.648         0.926          1.363          0              270            0
  79  StoveKnob       -0.648         0.926          1.513          0              270            0
  80  StoveKnob       -0.648         0.926          1.763          0              270            0
  81  Toaster         -1.002         0.926          2.561          0              90             0
  82  GarbageCan      1.451          -0.029         2.912          0              0              0
  83  Microwave       1.632          1.480          1.645          0              270            0
  84  Window          0.224          1.601          3.509          90             0              0
  85  CoffeeMachine   1.692          0.926          2.453          0              270            0
  86  SinkBasin       1.461          0.833          1.369          0              180            0
  87  LightSwitch     0.451          1.412          -1.674         0              0              0
  88  Faucet          1.707          0.925          1.363          0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn around and walk forward to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Look up to face the tomato on the right side of the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Look down to face the edge of the counter. | STEP 6: Place the knife on the counter. | STEP 7: Look up to face the tomato on the counter. | STEP 8: Pick up the slice of tomato on the counter. | STEP 9: Take a step to the left to face the fridge. | STEP 10: Cool the tomato in the fridge and then remove it. | STEP 11: Turn around and walk across the room to face the microwave. | STEP 12: Place the tomato slice in the microwave. | END