Task: Place the tomatoes inside of 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           0.75           0.900          3.0            0              270            0
   1  Potato          0.963          0.800          -1.654         0              0              0              57
   2  Ladle           1.757          0.954          1.180          0              90             0              38
   3  DishSponge      1.841          1.634          -1.419         0              0              0              51
   4  Pot             1.807          0.909          -0.320         0              180            0              40
   5  Spatula         1.796          0.926          -1.288         0              270            0              42
   6  Egg             1.607          0.945          0.311          0              90             0              38
   7  Egg             -0.887         1.718          -1.594         0              0              0              65
   8  Plate           -0.790         0.752          -1.594         0              0              0              65
   9  Knife           0.220          0.943          1.092          0              90             0              38
  10  SoapBottle      1.917          0.908          0.518          0              90             0              38
  11  Tomato          1.77           0.134          1.588          0              270            0              56
  12  SaltShaker      1.879          1.634          0.543          0              0              0              47
  13  Bread           -0.790         0.537          -1.412         0              0              0              65
  14  Apple           1.706          1.072          -0.888         0              270            0              62
  15  Apple           1.830          0.127          1.779          0              270            0              56
  16  Plate           1.809          2.137          1.159          0              0              0              45
  17  SoapBottle      0.553          0.909          -1.263         0              90             0              42
  18  Cup             1.451          0.908          0.467          0              90             0              38
  19  Egg             1.739          0.105          1.684          0              270            0              56
  20  Fork            1.762          0.911          0.467          0              270            0              38
  21  Ladle           1.586          0.955          -1.374         0              90             0              42
  22  Apple           1.803          1.072          -0.676         0              270            0              62
  23  SaltShaker      1.805          1.630          -1.297         0              0              0              51
  24  Pan             1.281          0.900          1.190          0              0              0              38
  25  Tomato          1.501          0.974          1.180          0              90             0              38
  26  Spatula         1.726          0.926          -1.288         0              180            0              42
  27  Potato          0.732          0.950          1.092          0              90             0              38
  28  Knife           1.139          0.761          -1.584         271.606        65.398         294.768        57
  29  ButterKnife     1.656          0.911          -1.545         0              90             0              42
  30  Bread           1.615          0.977          0.760          0              50.525         0              38
  31  Lettuce         -0.741         1.782          -1.594         0              0              0              65
  32  PepperShaker    1.269          0.906          -1.264         0              90             0              42
  33  Pot             1.807          0.909          0.075          0              180            0              39
  34  DishSponge      1.726          0.910          -1.717         0              90             0              42
  35  Spoon           1.165          0.750          -1.494         0              342.866        0              57
  36  Bowl            -0.741         1.387          -1.594         0              0              0              65
  37  Mug             1.865          0.906          -1.802         0              90             0              42
  38  CounterTop      0.989          0.946          1.016          0              90             0
  39  StoveBurner     1.807          0.907          0.075          0              180            0
  40  StoveBurner     1.807          0.907          -0.320         0              180            0
  41  StoveBurner     1.543          0.907          -0.320         0              90             0
  42  CounterTop      0.989          0.946          -1.516         0              90             0
  43  Sink            1.100          0.906          -1.599         0              0              0
  44  StoveBurner     1.548          0.907          0.075          0              180            0
  45  Cabinet         1.658          2.299          1.313          0              0              0
  46  Cabinet         1.658          2.299          0.686          0              0              0
  47  Cabinet         1.658          2.049          0.673          0              0              0
  48  Cabinet         1.658          2.059          0.193          0              0              0
  49  Cabinet         1.658          2.059          -0.593         0              0              0
  50  Cabinet         1.658          2.049          -0.606         0              0              0
  51  Cabinet         1.658          2.049          -1.206         0              0              0
  52  Cabinet         1.658          2.049          -1.893         0              0              0
  53  Toaster         0.131          0.900          -1.589         0              0              0
  54  Window          -0.372         1.588          3.349          90             0              0
  55  Window          0.782          1.741          -1.893         90             0              0
  56  GarbageCan      1.770          -0.029         1.685          0              270            0
  57  SinkBasin       1.091          0.740          -1.599         0              0              0
  58  StoveKnob       1.364          0.821          0.086          48.421         270            0
  59  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  60  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  61  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  62  Microwave       1.752          0.900          -0.843         0              270            0
  63  LightSwitch     2.0            1.261          3.094          0              270            0
  64  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  65  Fridge          -0.533         0.0            -1.554         0              0              0
  66  Chair           1.068          0.000          1.752          0              191.622        0
  67  Faucet          1.110          1.138          -1.764         0              270            0
  68  Chair           0.357          0.000          1.710          0              178.899        0
  69  NorthWall
  70  EastWall
  71  SouthWall
  72  WestWall

Plan:
STEP 1: Turn around, go straight and then to the left to face the sink. | STEP 2: Pick up the yellow knife from the sink. | STEP 3: Turn around and walk around the counter to face the trash can by the door. | STEP 4: Slice the tomato in the trash can. | STEP 5: Turn to the right and walk around the counter to face the microwave. | STEP 6: Open the microwave, place the knife inside of it, and close the microwave. | STEP 7: Turn around and walk around the counter to face the garbage can again. | STEP 8: Pick up a slice of tomato from the garbage can. | STEP 9: Walk around the counter to stand in front of the refrigerator. | STEP 10: Open the refrigerator, place the tomato slice inside, close the refrigerator, wait a few seconds, open the refrigerator again, remove the tomato slice, and shut the refrigerator. | STEP 11: Turn to the left to face the microwave. | STEP 12: Place the tomato slice inside the microwave and shut the door. | END