Task: Placing a cooled tomato slice into a microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.930          1.0            0              90             0
   1  Ladle           1.064          1.711          -1.410         0              270            0              52
   2  ButterKnife     0.007          0.900          -1.435         0              45             0              82
   3  ButterKnife     0.553          0.908          0.379          0              36.810         0              92
   4  Kettle          -1.080         0.901          0.399          0              0              0              61
   5  Kettle          -0.420         0.902          -0.920         0              135            0              56
   6  Pot             3.044          1.464          -1.648         0              270            0              59
   7  Spatula         -0.950         0.533          1.430          0              90             0              49
   8  Spoon           3.028          0.748          0.231          0              180            0              106
   9  Spoon           -0.868         0.327          1.518          0              0              0              96
  10  Fork            0.967          0.908          0.038          0              0              0              92
  11  Fork            3.152          0.713          -0.823         0              90             0              48
  12  Mug             0.773          0.708          -1.381         0              0              0              107
  13  Apple           3.277          0.974          -0.698         0              0              0              60
  14  Apple           1.164          1.147          -1.475         0              0              0              107
  15  Lettuce         3.122          0.966          -0.698         0              0              0              60
  16  SaltShaker      -0.779         0.896          -0.749         0              45             0              61
  17  SoapBottle      0.967          0.917          0.464          0              0              0              92
  18  SoapBottle      3.246          1.273          -0.885         0              0              0              74
  19  Egg             -0.985         1.050          1.470          0              90             0              109
  20  Knife           -0.698         0.925          -0.830         0              135            0              61
  21  Knife           0.622          0.936          0.627          0              0              0              92
  22  Plate           0.808          1.687          -1.480         0              0              0              76
  23  Glassbottle     3.084          0.176          -0.453         0              0              0              72
  24  SoapBottle      3.140          0.186          0.700          0              0              0              70
  25  Potato          3.111          0.785          -0.100         0              90             0              106
  26  Fork            -0.868         0.327          -0.098         0              0              0              66
  27  Ladle           -0.991         0.743          -0.273         0              90             0              68
  28  Pot             0.423          0.900          0.869          0              0              0              92
  29  Kettle          -1.080         0.901          -0.047         0              0              0              61
  30  Spatula         3.069          0.762          0.032          0              90             0              106
  31  Knife           -0.960         0.925          -0.774         0              135            0              61
  32  Lettuce         -0.038         0.965          -1.388         0              45             0              82
  33  Cup             -1.052         0.995          1.258          0              90             0              109
  34  SaltShaker      2.890          1.460          -1.284         0              0              0              75
  35  Egg             -0.985         1.050          1.364          0              90             0              109
  36  PepperShaker    0.772          0.904          0.093          0              36.810         0              92
  37  ButterKnife     -0.935         0.900          0.399          0              0              0              61
  38  Apple           0.929          0.785          -1.407         0              0              0              107
  39  Pan             0.341          0.873          -1.649         0              167.065        0              82
  40  Bread           1.534          0.972          0.486          0              289.287        0              92
  41  CellPhone       0.836          0.908          0.889          0              0              0              92
  42  DishSponge      -0.827         0.517          -0.011         0              0              0              88
  43  Tomato          0.839          0.947          0.530          0              36.810         0              92
  44  Spoon           0.798          0.912          0.627          0              0              0              92
  45  Bowl            2.971          0.174          0.700          0              0              0              70
  46  Mug             3.049          0.966          0.591          0              270            0              104
  47  Drawer          0.376          0.572          -1.509         0              0              0
  48  Drawer          3.020          0.769          -0.783         0              180            0
  49  Drawer          -0.860         0.577          1.429          0              0              0
  50  StoveBurner     -0.600         0.897          -1.090         0              135            0
  51  Drawer          0.376          0.191          -1.509         0              0              0
  52  Cabinet         1.402          1.874          -1.259         0              0              0
  53  Cabinet         -0.202         1.963          -1.328         0              0              0
  54  Drawer          -0.860         0.765          1.429          0              0              0
  55  Drawer          -0.677         0.765          -0.700         0              0              0
  56  StoveBurner     -0.420         0.897          -0.920         0              135            0
  57  Drawer          3.020          0.769          -0.407         0              180            0
  58  Drawer          -0.860         0.577          0.663          0              0              0
  59  Cabinet         2.819          1.768          -1.850         0              0              0
  60  CounterTop      3.111          0.936          0.019          0              0              0
  61  CounterTop      -1.007         0.935          -0.039         0              0              0
  62  Drawer          -0.860         0.385          0.663          0              0              0
  63  StoveBurner     -0.419         0.897          -1.269         0              315            0
  64  Drawer          -0.047         0.573          -1.324         0              0              0
  65  Drawer          -0.860         0.765          0.663          0              0              0
  66  Drawer          -0.860         0.385          -0.100         0              0              0
  67  Drawer          0.376          0.380          -1.509         0              0              0
  68  Drawer          -0.860         0.765          -0.100         0              0              0
  69  Drawer          0.376          0.765          -1.509         0              0              0
  70  Cabinet         2.849          0.419          0.409          0              0              0
  71  Drawer          -0.047         0.765          -1.324         0              0              0
  72  Cabinet         2.849          0.419          -0.610         0              0              0
  73  Cabinet         2.849          0.419          -0.959         0              0              0
  74  Cabinet         3.069          1.666          -0.709         0              0              0
  75  Cabinet         2.819          1.768          -1.047         0              0              0
  76  Cabinet         0.620          1.874          -1.259         0              0              0
  77  Cabinet         0.140          1.666          -1.559         0              0              0
  78  Cabinet         -0.189         1.666          -1.340         0              0              0
  79  Cabinet         -0.709         1.963          -0.819         0              0              0
  80  Cabinet         -0.920         1.665          -0.620         0              0              0
  81  Drawer          -0.860         0.190          -0.100         0              0              0
  82  CounterTop      0.133          0.935          -1.457         0              0              0
  83  Drawer          3.020          0.769          0.695          0              180            0
  84  Drawer          -0.677         0.577          -0.700         0              0              0
  85  Drawer          -0.860         0.190          1.429          0              0              0
  86  Drawer          -0.047         0.192          -1.324         0              0              0
  87  Drawer          -0.677         0.193          -0.700         0              0              0
  88  Drawer          -0.860         0.577          -0.100         0              0              0
  89  Sink            3.078          0.887          0.086          0              0              0
  90  StoveBurner     -0.239         0.897          -1.089         0              315            0
  91  Drawer          -0.860         0.190          0.663          0              0              0
  92  CounterTop      1.210          0.937          0.463          0              0              0
  93  Drawer          -0.047         0.381          -1.324         0              0              0
  94  Drawer          -0.677         0.387          -0.700         0              0              0
  95  Mirror          -1.295         1.630          0.045          0              0              0
  96  Drawer          -0.860         0.385          1.429          0              0              0
  97  HousePlant      3.196          0.891          -0.368         0              0              0
  98  StoveKnob       -0.090         0.790          -1.009         270            45             0
  99  StoveKnob       -0.280         0.790          -0.819         270            45             0
 100  StoveKnob       -0.180         0.790          -0.920         270            45             0
 101  StoveKnob       -0.370         0.790          -0.720         270            45             0
 102  GarbageCan      3.137          0.025          1.545          0              225            0
 103  Window          3.703          1.675          0.046          90             90             0
 104  CoffeeMachine   3.214          0.890          0.697          0              270            0
 105  LightSwitch     2.592          1.309          -1.880         0              0              0
 106  SinkBasin       3.069          0.736          0.108          0              90             0
 107  Fridge          1.008          0.029          -1.467         0              0              0
 108  Toaster         -1.035         0.873          -0.396         0              90             0
 109  Microwave       -1.034         0.874          1.428          0              90             0
 110  Faucet          3.305          0.886          0.094          270            180            0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Back up, turn to the the right and walk around the island, veering to the right at the end near the refrigerator, and walk to the counter directly to the left of the refrigerator.  | STEP 2: Pick up the knife by the lettuce from the counter.  | STEP 3: Turn around to the left and walk to the island with knife in hand.  | STEP 4: Turn right, walking closer to the island.  | STEP 5: Turn to the right and walk to the refrigerator.  | STEP 6: Open the refrigerator and place the knife on the shelf with the apple and mug.  | STEP 7: Close the refrigerator, turn to the right and walk back to the island where the pan is located.  | STEP 8: Pick up a slice of the tomato and place it on the counter in front of you | STEP 9: Turn to the right and walk to the refrigerator.  | STEP 10: Open the refrigerator, place the tomato slice on the shelf beside the apple, close the refrigerator. Open the refrigerator and remove the tomato.  | STEP 11: Turn to the right and walk to the microwave at the end of the counter.  | STEP 12: Place the tomato slice into the microwave to the left of the egg. Close the microwave door.  | END