Task: To cool a tomato slice plus place 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           -1.25          0.900          3.25           0              0              0
   1  ButterKnife     -1.317         0.900          1.349          0              90             0              83
   2  ButterKnife     -0.789         0.900          1.555          0              180            0              83
   3  Pot             0.913          0.850          1.375          0              0              0              41
   4  Spatula         -0.524         0.915          0.937          0              90             0              83
   5  Spoon           -1.317         0.901          1.040          0              0              0              83
   6  Spoon           0.668          0.693          2.496          0              90             0              39
   7  Fork            0.839          0.692          2.235          0              270            0              36
   8  Fork            0.771          0.692          2.163          0              90             0              36
   9  SoapBottle      -1.819         0.822          3.535          0              0              0              65
  10  SoapBottle      1.042          0.814          2.460          0              0              358.717        47
  11  Mug             -1.185         0.895          1.555          0              90             0              83
  12  Mug             -2.744         1.602          2.333          0              90             0              74
  13  Apple           0.960          0.085          2.947          0              90             0              76
  14  Plate           -2.136         1.402          3.897          0              0              0              43
  15  Fork            -1.362         0.703          3.774          0              0              0              77
  16  Bread           0.828          0.861          2.450          0              0              0              42
  17  Spatula         -0.524         0.915          1.143          0              90             0              83
  18  PaperTowelRoll  -1.185         1.004          1.452          0              90             0              83
  19  Potato          -2.694         1.038          2.165          0              90             0              74
  20  SoapBottle      -1.317         0.900          1.246          0              90             0              83
  21  Egg             -2.519         1.227          2.109          0              90             0              74
  22  Cup             0.950          0.822          2.198          0              0              0              47
  23  Pot             0.913          0.850          1.768          0              0              0              63
  24  SaltShaker      -1.193         0.124          3.674          0              0              0              62
  25  Pan             -2.667         0.812          3.74           0              137.145        0              65
  26  PepperShaker    -2.492         0.819          3.628          0              0              0              65
  27  ButterKnife     -2.172         0.812          3.552          0              0              0              65
  28  Tomato          -0.913         0.962          1.484          0              0              0              83
  29  DishSponge      -1.053         0.900          1.555          0              90             0              83
  30  Lettuce         -0.657         0.976          1.040          0              90             0              83
  31  Spoon           -1.800         0.698          3.816          0              270            0              77
  32  Apple           -2.577         0.828          2.389          0              90             0              74
  33  Knife           0.725          0.846          0.939          0              90             0              42
  34  Mug             -2.752         0.990          2.277          0              90             0              74
  35  Bowl            0.800          0.821          2.198          0              0              0              57
  36  Drawer          0.729          0.703          2.199          0              0              0
  37  Cabinet         -1.962         1.926          3.733          0              0              0
  38  Cabinet         -2.377         2.014          1.058          0              0              0
  39  Drawer          0.729          0.703          2.532          0              0              0
  40  Cabinet         -2.622         1.925          3.733          0              0              0
  41  StoveBurner     0.913          0.843          1.375          0              0              0
  42  CounterTop      0.864          0.858          0.984          0              0              0
  43  Cabinet         -1.976         1.779          3.734          0              0              0
  44  Cabinet         0.580          0.385          0.819          0              0              0
  45  Cabinet         -2.379         1.408          1.677          0              0              0
  46  Cabinet         -0.419         1.703          3.736          0              0              0
  47  CounterTop      0.864          0.858          2.371          0              0              0
  48  Sink            -1.702         0.726          3.828          0              180            0
  49  Cabinet         0.580          0.385          2.694          0              0              0
  50  Cabinet         -2.379         0.637          1.677          0              0              0
  51  Cabinet         -0.419         0.674          3.736          0              0              0
  52  Cabinet         -2.377         2.014          2.558          0              0              0
  53  Drawer          0.729          0.703          0.980          0              0              0
  54  Drawer          -2.114         0.706          3.657          0              0              0
  55  Cabinet         -2.377         1.691          2.572          0              0              0
  56  Cabinet         -2.951         1.925          3.733          0              0              0
  57  Cabinet         0.580          0.385          2.360          0              0              0
  58  Cabinet         -2.426         0.435          3.421          0              0              0
  59  StoveBurner     0.642          0.843          1.375          0              0              0
  60  Cabinet         -2.377         1.927          1.686          0              0              0
  61  Cabinet         -2.377         2.013          3.177          0              0              0
  62  Cabinet         -1.136         0.385          3.516          0              0              0
  63  StoveBurner     0.913          0.843          1.768          0              0              0
  64  Cabinet         -1.974         0.385          3.516          0              0              0
  65  CounterTop      -2.081         0.858          3.799          0              0              0
  66  Cabinet         -2.426         0.435          3.174          0              0              0
  67  Cabinet         -2.377         2.014          1.693          0              0              0
  68  Cabinet         -1.986         0.385          3.511          0              0              0
  69  StoveBurner     0.642          0.843          1.768          0              0              0
  70  Cabinet         -1.098         1.926          3.729          0              0              0
  71  Microwave       -1.529         1.250          3.881          1.622          180            0
  72  CoffeeMachine   1.000          0.812          2.492          0              270            0
  73  LightSwitch     0.825          1.396          4.082          0              180            0
  74  Fridge          -2.642         0.0            2.134          0              180            0
  75  Window          -1.131         1.673          0.808          90             0              0
  76  GarbageCan      0.931          -0.000         2.918          0              0              0
  77  SinkBasin       -1.601         0.686          3.774          0              0              0
  78  StoveKnob       1.104          1.002          1.886          0              0              70.346
  79  StoveKnob       1.104          1.002          1.733          0              0              70.346
  80  StoveKnob       1.104          1.002          1.321          0              0              70.346
  81  StoveKnob       1.104          1.002          1.481          0              0              70.346
  82  Toaster         -2.247         0.812          3.862          0              180            0
  83  DiningTable     -0.917         -0.000         1.203          0              0              0
  84  Stool           -0.932         0.000          1.404          1.196          21.715         0
  85  Faucet          -1.842         0.809          3.984          0              180            0
  86  Faucet          -1.371         0.809          3.985          0              180            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Step to the left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and cross the room to face the kitchen table. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Place the knife on the kitchen table. | STEP 6: Pick up a slice of tomato on the kitchen table. | STEP 7: Turn right to face the fridge. | STEP 8: Cool the tomato slice in the fridge and remove it. | STEP 9: Turn right and look up to face the microwave. | STEP 10: Place the tomato slice in the microwave. | END