Task: place a clean 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           1.124          0.5            0              270            0
   1  Potato          0.933          1.985          1.847          0              270            0              68
   2  Potato          -1.634         0.319          2.275          0              270            0              70
   3  DishSponge      -1.363         1.322          -1.035         0              0              0              55
   4  WineBottle      0.492          1.323          -3.343         0              0              0              55
   5  WineBottle      -1.381         1.323          -0.332         0              0              0              55
   6  Kettle          -0.630         1.331          -3.301         0              180            0              52
   7  Kettle          -1.818         0.344          1.110          0              0              0              56
   8  Fork            0.636          1.323          -3.164         0              0              0              55
   9  Fork            1.155          1.323          -2.053         0              0              0              55
  10  Spoon           -2.004         1.337          -1.117         0              180            0              62
  11  Spatula         -1.737         1.345          -1.049         0              0              0              62
  12  Spatula         -2.049         1.337          -2.461         0              0              0              55
  13  Pot             1.025          1.329          -2.424         0              0              0              55
  14  Pot             -1.817         0.350          0.412          0              0              0              53
  15  Knife           -2.049         1.352          1.094          0              0              0              55
  16  Tomato          -2.049         1.356          0.445          0              0              0              55
  17  Bowl            1.017          1.755          2.230          0              270            0              68
  18  Bowl            0.869          1.522          1.724          0              270            0              68
  19  PepperShaker    -2.179         1.318          -1.681         0              0              0              55
  20  Bread           -1.920         1.397          -2.981         0              0              0              55
  21  Lettuce         1.017          1.751          1.604          0              270            0              68
  22  Lettuce         -1.660         1.399          -1.941         0              0              0              55
  23  Mug             0.965          1.371          -1.534         0              270            0              76
  24  Mug             1.148          1.305          0.810          0              270            0              80
  25  Apple           1.276          1.256          1.238          0              0              0              80
  26  Apple           0.766          1.371          -2.794         0              0              0              55
  27  Bread           -1.660         1.397          -2.721         0              0              0              55
  28  Pot             -1.682         0.350          1.523          0              0              0              56
  29  Knife           0.349          1.352          -3.232         0              0              0              55
  30  Bowl            -1.401         1.321          1.744          0              0              0              55
  31  Potato          0.933          1.985          1.553          0              270            0              68
  32  SoapBottle      -1.586         0.280          2.151          0              270            0              70
  33  Fork            -1.645         0.420          -1.086         0              270            0              61
  34  Cup             -1.789         0.341          -2.162         0              0              0              51
  35  Kettle          -1.530         1.324          0.770          0              0              0              55
  36  Egg             -1.401         1.363          -2.461         0              0              0              55
  37  Pan             -0.125         1.332          -2.973         0              0              0              63
  38  SaltShaker      -1.681         0.338          0.613          0              0              0              53
  39  WineBottle      -1.451         1.323          -2.870         0              0              0              55
  40  Lettuce         -1.826         1.140          -0.542         0              0              0              73
  41  Spatula         0.563          1.337          -2.789         0              0              0              55
  42  PaperTowelRoll  -1.308         1.427          -2.981         0              0              0              55
  43  Tomato          -1.920         1.356          -1.941         0              0              0              55
  44  Plate           -2.049         1.323          1.419          0              0              0              55
  45  PepperShaker    1.027          1.202          1.254          0              0              0              80
  46  DishSponge      -2.004         1.336          -1.186         0              0              0              62
  47  Spoon           0.861          1.208          1.222          0              0              0              80
  48  Apple           -1.094         1.371          -2.981         0              0              0              55
  49  Mug             -1.451         1.318          -3.092         0              0              0              55
  50  StoveBurner     -0.239         1.325          -3.301         0              180            0
  51  Cabinet         -1.461         0.775          -2.002         0              0              0
  52  StoveBurner     -0.630         1.325          -3.301         0              180            0
  53  Cabinet         -1.461         0.775          0.470          0              0              0
  54  Cabinet         0.578          0.776          -2.054         0              0              0
  55  CounterTop      -1.809         1.358          1.182          0              0              0
  56  Cabinet         -1.461         0.775          1.310          0              0              0
  57  Faucet          -2.063         1.362          -0.726         0              39.391         0
  58  StoveBurner     -0.749         1.325          -2.973         0              0              0
  59  Drawer          -1.610         0.681          -0.430         0              0              0
  60  Window          -2.566         1.799          -0.822         270            0              0
  61  Drawer          -1.610         0.681          -1.217         0              0              0
  62  Sink            -1.990         1.143          -0.975         0              0              0
  63  StoveBurner     -0.125         1.325          -2.973         0              0              0
  64  StoveKnob       -0.185         1.338          -2.741         0              270            180
  65  StoveKnob       -0.336         1.338          -2.741         0              270            180
  66  StoveKnob       -0.569         1.338          -2.741         0              270            180
  67  StoveKnob       -0.707         1.338          -2.741         0              270            180
  68  Fridge          1.013          0.227          1.917          0              270            0
  69  Microwave       0.994          1.310          -2.163         0              270            0
  70  GarbageCan      -1.633         0.212          2.192          0              270            0
  71  LightSwitch     1.386          1.565          -0.657         0              270            0
  72  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  73  SinkBasin       -1.835         1.039          -0.542         0              0              0
  74  ButterKnife     0.873          0.468          0.651          0              0              0
  75  Toaster         -1.885         1.310          -2.512         0              90             0
  76  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  77  Drawer          0.647          1.061          0.680          0              270            0
  78  Drawer          0.648          1.061          1.020          0              270            0
  79  Drawer          0.648          0.843          1.020          0              270            0
  80  SideTable       0.975          0.220          0.869          0              270            0
  81  Drawer          0.648          0.602          0.680          0              270            0
  82  Drawer          0.648          0.596          1.020          0              270            0
  83  Drawer          0.648          0.843          0.680          0              270            0
  84  Stool           0.606          0.222          -1.084         1.233          280.489        0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: move forward to the table | STEP 2: pick up the knife from the table | STEP 3: move left on the table | STEP 4: slice the tomato on the table | STEP 5: move under the table to the drawer | STEP 6: place the knife in the drawer | STEP 7: move on to the table | STEP 8: pick up a slice of the tomato  | STEP 9: move left to the sink | STEP 10: wash the slice in the sink and take it out | STEP 11: turn around and head to the microwave | STEP 12: place the tomato slice in the microwave | END