Task: Warm up a 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           -1.5           0.900          -0.25          0              0              0
   1  Pan             1.101          0.760          -1.654         0              180            0              44
   2  ButterKnife     1.586          0.911          -1.545         0              270            0              44
   3  ButterKnife     1.757          0.910          1.092          0              90             0              40
   4  DishSponge      1.739          0.069          1.636          0              270            0              58
   5  DishSponge      1.501          0.910          1.092          0              90             0              40
   6  Fork            1.726          0.911          -1.717         0              90             0              44
   7  Spoon           1.586          0.912          -1.374         0              90             0              44
   8  Cup             1.803          1.013          -0.888         0              270            0              64
   9  Cup             1.878          2.135          0.767          0              0              0              48
  10  Knife           0.220          0.943          0.827          0              90             0              40
  11  Knife           1.656          0.943          -1.631         0              180            0              44
  12  SoapBottle      1.796          0.909          -1.460         0              90             0              44
  13  Tomato          0.732          0.974          0.739          0              90             0              40
  14  PepperShaker    1.501          0.905          1.269          0              90             0              40
  15  Bread           0.476          0.987          1.180          0              90             0              40
  16  Mug             1.917          0.905          0.518          0              90             0              40
  17  Mug             1.805          1.628          -0.973         0              0              0              52
  18  Plate           1.808          1.640          0.431          0              0              0              49
  19  SoapBottle      1.735          1.631          -1.119         0              0              0              52
  20  Cup             1.878          2.134          1.198          0              0              0              47
  21  Egg             1.830          0.105          1.827          0              270            0              58
  22  Fork            0.455          0.911          -1.793         0              180            0              44
  23  Ladle           1.245          0.954          1.004          0              90             0              40
  24  Apple           1.835          1.072          -0.676         0              270            0              64
  25  SaltShaker      0.652          0.906          -1.263         0              90             0              44
  26  Pan             1.543          0.909          -0.320         0              90             0              43
  27  Tomato          1.516          0.975          -1.288         0              90             0              44
  28  Spatula         1.762          0.925          0.570          0              0              0              40
  29  Potato          0.579          0.9            0.938          0              315            0              40
  30  Knife           1.607          0.943          0.311          0              180            0              40
  31  ButterKnife     0.296          0.9            -1.296         0              14.568         0              44
  32  Bread           1.615          0.977          0.761          0              50.525         0              40
  33  Lettuce         0.856          0.989          1.120          0              270            1.472          40
  34  PepperShaker    1.935          0.906          -1.717         0              90             0              44
  35  Pot             1.534          0.908          0.058          0              195.000        0              46
  36  DishSponge      1.842          2.136          0.880          0              0              0              48
  37  Spoon           1.451          0.911          0.518          0              90             0              40
  38  Bowl            1.607          0.909          0.415          0              90             0              40
  39  Mug             -0.838         1.678          -1.664         0              0              0              67
  40  CounterTop      0.989          0.946          1.016          0              90             0
  41  StoveBurner     1.807          0.907          0.075          0              180            0
  42  StoveBurner     1.807          0.907          -0.320         0              180            0
  43  StoveBurner     1.543          0.907          -0.320         0              90             0
  44  CounterTop      0.989          0.946          -1.516         0              90             0
  45  Sink            1.100          0.906          -1.599         0              0              0
  46  StoveBurner     1.548          0.907          0.075          0              180            0
  47  Cabinet         1.658          2.299          1.313          0              0              0
  48  Cabinet         1.658          2.299          0.686          0              0              0
  49  Cabinet         1.658          2.049          0.673          0              0              0
  50  Cabinet         1.658          2.059          0.193          0              0              0
  51  Cabinet         1.658          2.059          -0.593         0              0              0
  52  Cabinet         1.658          2.049          -0.606         0              0              0
  53  Cabinet         1.658          2.049          -1.206         0              0              0
  54  Cabinet         1.658          2.049          -1.893         0              0              0
  55  Toaster         0.131          0.900          -1.589         0              0              0
  56  Window          -0.372         1.588          3.349          90             0              0
  57  Window          0.782          1.741          -1.893         90             0              0
  58  GarbageCan      1.770          -0.029         1.685          0              270            0
  59  SinkBasin       1.091          0.740          -1.599         0              0              0
  60  StoveKnob       1.364          0.821          0.086          48.421         270            0
  61  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  62  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  63  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  64  Microwave       1.752          0.900          -0.843         0              270            0
  65  LightSwitch     2.0            1.261          3.094          0              270            0
  66  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  67  Fridge          -0.533         0.0            -1.554         0              0              0
  68  Chair           1.068          0.000          1.752          0              191.622        0
  69  Faucet          1.110          1.138          -1.764         0              270            0
  70  Chair           0.357          0.000          1.710          0              178.899        0
  71  NorthWall
  72  EastWall
  73  SouthWall
  74  WestWall

Plan:
STEP 1: Turn right, then go across the room to the stove and then turn right towards the sink. | STEP 2:  Pick up the knife to the left of the sink. | STEP 3: Pick up the tomato to the left of the sink. | STEP 4: Cut the tomato in half and place it to the left of the sink. | STEP 5: Put the knife in the sink and pick up the cut tomato to the left of the sink. | STEP 6: Turn right and move towards the refrigerator then turn left and face the fridge. | STEP 7: Open the fridge,  put tomato in top shelf of fridge, close fridge, open fridge and get tomato slice, then close the fridge. | STEP 8: Turn left to face microwave and then move to microwave. | STEP 9: Open the microwave, put the cut tomato on the plate in the microwave, then close the microwave  | END