Task: To heat a tomato slice in the microwave and remove it.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          -0.25          0              0              0
   1  Potato          -2.614         0.982          0.704          0              90             0              79
   2  Potato          -0.296         0.100          0.439          0              90             0              75
   3  DishSponge      0.377          0.782          -1.648         0              270            0              69
   4  DishSponge      -0.058         0.772          -1.473         0              0              0              49
   5  ButterKnife     1.289          0.912          -1.571         0              0              0              46
   6  Pot             1.007          0.962          0.561          0              270            0              48
   7  Fork            -2.477         0.952          0.255          0              90             0              79
   8  Spoon           -1.228         0.774          -1.538         0              90             0              59
   9  Spoon           -2.203         0.953          0.345          0              180            0              79
  10  Cup             0.300          0.910          0.292          0              0              0              45
  11  Cup             -2.477         0.950          0.165          0              90             0              79
  12  Knife           -1.928         0.977          0.255          0              90             0              79
  13  Bowl            -0.923         1.014          -1.737         0              0              0              68
  14  SaltShaker      0.332          0.104          -1.584         0              180            0              43
  15  Bread           1.846          0.995          0.540          0              0              0              61
  16  Mug             -2.340         0.947          0.345          0              90             0              79
  17  Bread           1.658          0.995          -1.820         0              0              0              46
  18  Knife           -1.791         0.977          0.435          0              90             0              79
  19  Fork            -2.614         0.952          0.524          0              270            0              79
  20  Bowl            1.754          1.328          -1.772         0              180            0              62
  21  Kettle          -0.055         0.9            0.643          0              0              0              45
  22  Cup             1.830          0.106          0.274          0              0              0              54
  23  Tomato          -2.340         1.001          0.704          0              90             0              79
  24  SoapBottle      -0.544         0.910          -1.820         0              0              0              46
  25  Plate           -0.644         1.329          -1.809         0              180            0              40
  26  Pot             1.361          0.962          0.561          0              270            0              51
  27  Spatula         -0.359         0.927          -1.820         0              90             0              46
  28  PaperTowelRoll  -0.082         1.016          -1.903         0              0              0              46
  29  Egg             -0.096         0.947          0.458          0              0              0              45
  30  Lettuce         1.846          1.002          0.292          0              0              0              61
  31  SaltShaker      -1.791         0.948          0.524          0              90             0              79
  32  PepperShaker    0.167          0.908          0.706          0              0              0              45
  33  Apple           -0.362         0.137          0.569          0              90             0              75
  34  ButterKnife     1.535          0.912          -1.654         0              0              0              46
  35  Potato          -2.047         1.081          -1.720         0              0              0              76
  36  Pan             1.022          0.959          0.288          0              219.190        0              58
  37  DishSponge      -2.477         0.951          0.704          0              90             0              79
  38  Spoon           1.781          0.913          -1.571         0              0              0              46
  39  Mug             0.649          0.914          -1.649         0              270            0              44
  40  Cabinet         -0.193         1.688          -1.648         0              180            0
  41  StoveBurner     1.360          0.957          0.293          0              180            0
  42  Drawer          0.499          0.792          0.296          0              0              0
  43  Cabinet         0.095          0.400          -1.352         0              180            0
  44  Sink            0.711          0.817          -1.772         0              270            0
  45  CounterTop      0.280          0.947          0.458          0              0              0
  46  CounterTop      -0.680         0.947          -1.654         0              0              0
  47  Drawer          1.825          0.792          0.296          0              0              0
  48  StoveBurner     1.007          0.957          0.561          0              270            0
  49  Drawer          -0.150         0.792          -1.496         0              0              0
  50  Drawer          -0.586         0.792          -1.496         0              0              0
  51  StoveBurner     1.360          0.957          0.561          0              270            0
  52  Drawer          0.024          0.792          0.296          0              0              0
  53  Cabinet         1.079          0.400          -1.349         0              180            0
  54  Cabinet         1.669          0.402          0.151          0              0              0
  55  Cabinet         0.055          0.402          -1.351         0              0              0
  56  Cabinet         -0.180         0.402          0.151          0              0              0
  57  Cabinet         0.729          0.402          0.151          0              0              0
  58  StoveBurner     1.007          0.957          0.293          0              180            0
  59  Drawer          -1.100         0.792          -1.496         0              0              0
  60  Cabinet         -0.396         0.402          -1.351         0              0              0
  61  CounterTop      1.776          0.947          0.458          0              0              0
  62  Cabinet         1.974          1.688          -1.648         0              180            0
  63  Cabinet         -0.820         0.400          -1.349         0              180            0
  64  Toaster         0.305          0.900          0.552          0              180            0
  65  LightSwitch     -2.756         1.307          -0.987         0              90             0
  66  Window          0.582          1.613          -1.967         90             0              0
  67  Window          1.969          1.5            -0.615         90             270            0
  68  Microwave       -1.037         0.900          -1.723         0              0              0
  69  SinkBasin       0.377          0.765          -1.655         0              270            0
  70  CoffeeMachine   0.618          0.900          0.600          0              180            0
  71  StoveKnob       1.246          0.913          0.118          45             180            0
  72  StoveKnob       1.373          0.913          0.118          45             180            0
  73  StoveKnob       0.995          0.913          0.118          45             180            0
  74  StoveKnob       1.126          0.913          0.118          45             180            0
  75  GarbageCan      -0.368         -0.029         0.539          0              90             0
  76  Fridge          -2.134         0.0            -1.690         0              0              0
  77  Faucet          0.549          1.046          -1.833         0              232.527        0
  78  Stool           -1.475         0.000          0.414          1.233          280.375        0
  79  DiningTable     -2.255         -0.004         0.432          0              0              0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn around and step forward to face the counter. | STEP 2: Pick up the left knife on the counter. | STEP 3: Turn right, walk across the room and then turn right and step forward to face the white table. | STEP 4: Cut the tomato on the back of the table into slices. | STEP 5: Turn right and walk forward and turn left to face the first cabinet on the left. | STEP 6: Place the cabinet in the cabinet on the left. | STEP 7: Turn left and step forward and turn right to face the white table. | STEP 8: Pick up the slice of tomato on the white table. | STEP 9: Turn around and step forward to face the microwave. | STEP 10: Heat the tomato slice in the microwave and remove it. | STEP 11: Turn around and step forward to face the white table. | STEP 12: Place the tomato slice on the white table. | END