Task: Put a chilled tomato 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           2.25           0.930          -0.25          0              270            0
   1  Potato          -1.119         1.036          1.258          0              90             0              107
   2  ButterKnife     0.101          0.900          -1.731         0              180            0              80
   3  Kettle          -0.420         0.902          -0.920         0              135            0              54
   4  Pot             1.360          0.908          0.180          0              90             0              90
   5  Spatula         1.229          0.923          0.889          0              0              0              90
   6  Fork            3.069          0.747          0.032          0              270            0              104
   7  Fork            -0.827         0.327          0.751          0              0              0              60
   8  Mug             3.049          0.966          0.591          0              270            0              102
   9  Apple           0.664          0.981          0.296          0              36.810         0              90
  10  SaltShaker      -0.705         0.896          -0.621         0              45             0              59
  11  PepperShaker    -0.140         1.259          -1.544         0              45             0              76
  12  PepperShaker    -0.028         0.702          -1.257         0              45             0              69
  13  Bowl            -0.789         0.897          0.623          0              0              0              59
  14  Bowl            3.198          0.172          -0.356         0              0              0              70
  15  Cup             -1.080         0.898          0.176          0              0              0              59
  16  Cup             -0.546         0.898          -0.679         0              45             0              59
  17  Plate           3.031          1.477          -1.235         0              0              0              73
  18  Knife           0.110          0.925          -1.332         0              45             0              80
  19  Knife           0.602          0.936          0.098          0              36.810         0              90
  20  Plate           3.028          0.188          -0.786         0              0              0              71
  21  Glassbottle     3.315          1.465          -1.137         0              0              0              73
  22  SoapBottle      3.101          0.110          1.573          0              225            0              100
  23  Potato          1.164          0.751          -1.407         0              0              0              105
  24  Fork            0.710          0.911          0.727          0              0              0              90
  25  Ladle           -0.991         0.555          0.664          0              90             0              56
  26  Pot             -0.600         0.902          -1.090         0              135            0              48
  27  Kettle          -0.419         0.902          -1.269         0              315            0              61
  28  Spatula         -0.868         0.721          0.163          0              270            0              59
  29  Knife           1.098          0.936          0.464          0              0              0              90
  30  Lettuce         -0.960         0.965          -0.774         0              45             0              59
  31  Cup             0.887          0.905          0.326          0              0              0              90
  32  SaltShaker      1.229          0.904          0.605          0              0              0              90
  33  Egg             3.152          0.799          0.032          0              90             0              104
  34  PepperShaker    0.665          1.671          -1.689         0              0              0              74
  35  ButterKnife     -0.868         0.706          1.343          0              0              0              52
  36  Apple           3.235          0.174          1.6            0              225            0              100
  37  Pan             0.341          0.873          -1.649         0              167.065        0              80
  38  Bread           2.966          0.979          -0.698         0              0              0              58
  39  CellPhone       0.376          0.128          -1.434         0              0              0              49
  40  DishSponge      0.100          0.899          -1.528         0              45             0              80
  41  Tomato          0.022          0.937          -1.445         0              0              0              80
  42  Spoon           -0.099         0.323          -1.234         0              315            0              91
  43  Bowl            -1.008         0.897          -0.047         0              0              0              59
  44  Mug             0.851          0.881          -1.503         0              0              0              105
  45  Drawer          0.376          0.572          -1.509         0              0              0
  46  Drawer          3.020          0.769          -0.783         0              180            0
  47  Drawer          -0.860         0.577          1.429          0              0              0
  48  StoveBurner     -0.600         0.897          -1.090         0              135            0
  49  Drawer          0.376          0.191          -1.509         0              0              0
  50  Cabinet         1.402          1.874          -1.259         0              0              0
  51  Cabinet         -0.202         1.963          -1.328         0              0              0
  52  Drawer          -0.860         0.765          1.429          0              0              0
  53  Drawer          -0.677         0.765          -0.700         0              0              0
  54  StoveBurner     -0.420         0.897          -0.920         0              135            0
  55  Drawer          3.020          0.769          -0.407         0              180            0
  56  Drawer          -0.860         0.577          0.663          0              0              0
  57  Cabinet         2.819          1.768          -1.850         0              0              0
  58  CounterTop      3.111          0.936          0.019          0              0              0
  59  CounterTop      -1.007         0.935          -0.039         0              0              0
  60  Drawer          -0.860         0.385          0.663          0              0              0
  61  StoveBurner     -0.419         0.897          -1.269         0              315            0
  62  Drawer          -0.047         0.573          -1.324         0              0              0
  63  Drawer          -0.860         0.765          0.663          0              0              0
  64  Drawer          -0.860         0.385          -0.100         0              0              0
  65  Drawer          0.376          0.380          -1.509         0              0              0
  66  Drawer          -0.860         0.765          -0.100         0              0              0
  67  Drawer          0.376          0.765          -1.509         0              0              0
  68  Cabinet         2.849          0.419          0.409          0              0              0
  69  Drawer          -0.047         0.765          -1.324         0              0              0
  70  Cabinet         2.849          0.419          -0.610         0              0              0
  71  Cabinet         2.849          0.419          -0.959         0              0              0
  72  Cabinet         3.069          1.666          -0.709         0              0              0
  73  Cabinet         2.819          1.768          -1.047         0              0              0
  74  Cabinet         0.620          1.874          -1.259         0              0              0
  75  Cabinet         0.140          1.666          -1.559         0              0              0
  76  Cabinet         -0.189         1.666          -1.340         0              0              0
  77  Cabinet         -0.709         1.963          -0.819         0              0              0
  78  Cabinet         -0.920         1.665          -0.620         0              0              0
  79  Drawer          -0.860         0.190          -0.100         0              0              0
  80  CounterTop      0.133          0.935          -1.457         0              0              0
  81  Drawer          3.020          0.769          0.695          0              180            0
  82  Drawer          -0.677         0.577          -0.700         0              0              0
  83  Drawer          -0.860         0.190          1.429          0              0              0
  84  Drawer          -0.047         0.192          -1.324         0              0              0
  85  Drawer          -0.677         0.193          -0.700         0              0              0
  86  Drawer          -0.860         0.577          -0.100         0              0              0
  87  Sink            3.078          0.887          0.086          0              0              0
  88  StoveBurner     -0.239         0.897          -1.089         0              315            0
  89  Drawer          -0.860         0.190          0.663          0              0              0
  90  CounterTop      1.210          0.937          0.463          0              0              0
  91  Drawer          -0.047         0.381          -1.324         0              0              0
  92  Drawer          -0.677         0.387          -0.700         0              0              0
  93  Mirror          -1.295         1.630          0.045          0              0              0
  94  Drawer          -0.860         0.385          1.429          0              0              0
  95  HousePlant      3.196          0.891          -0.368         0              0              0
  96  StoveKnob       -0.090         0.790          -1.009         270            45             0
  97  StoveKnob       -0.280         0.790          -0.819         270            45             0
  98  StoveKnob       -0.180         0.790          -0.920         270            45             0
  99  StoveKnob       -0.370         0.790          -0.720         270            45             0
 100  GarbageCan      3.137          0.025          1.545          0              225            0
 101  Window          3.703          1.675          0.046          90             90             0
 102  CoffeeMachine   3.214          0.890          0.697          0              270            0
 103  LightSwitch     2.592          1.309          -1.880         0              0              0
 104  SinkBasin       3.069          0.736          0.108          0              90             0
 105  Fridge          1.008          0.029          -1.467         0              0              0
 106  Toaster         -1.035         0.873          -0.396         0              90             0
 107  Microwave       -1.034         0.874          1.428          0              90             0
 108  Faucet          3.305          0.886          0.094          270            180            0
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: Walk to the counter to the left of the stove.  | STEP 2: Pick up the knife on the edge of the counter.  | STEP 3: Slice the tomato on the counter.  | STEP 4: Walk to the left to the refrigerator.  | STEP 5: Put the knife on the bottom shelf above the drawers.  | STEP 6: Walk back to the counter to the left of the stove.  | STEP 7: Pick up a slice of tomato.  | STEP 8: Walk back to the refrigerator.  | STEP 9: Put the tomato next to the knife in the refrigerator for a few seconds, pick up the tomato slice again.  | STEP 10: Turn around, walk around the counter, go to the microwave.  | STEP 11: Put the tomato in the microwave.  | END