Task: Put a slice of tomato inside 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           0.0            0.900          3.0            0              0              0
   1  Potato          0.650          0.866          0.895          0              0              0              43
   2  Pot             0.913          0.850          1.375          0              0              0              42
   3  Spoon           -1.309         0.698          3.816          0              270            0              78
   4  Spoon           -0.524         0.901          1.040          0              90             0              84
   5  Fork            1.099          0.823          2.545          0              90             0              48
   6  Knife           -1.127         0.846          3.703          0              90             0              66
   7  SoapBottle      -0.789         0.900          1.246          0              90             0              84
   8  Bowl            -1.694         1.357          3.901          0              180            0              72
   9  SaltShaker      -0.789         0.896          1.555          0              90             0              84
  10  SaltShaker      -1.667         0.124          3.559          0              0              0              65
  11  Bread           -1.185         0.953          1.452          0              90             0              84
  12  Mug             -2.541         1.629          2.953          0              0              0              62
  13  Apple           -2.744         1.668          2.109          0              90             0              75
  14  Apple           -2.752         1.252          2.165          0              90             0              75
  15  Plate           -2.563         0.826          3.405          0              0              0              66
  16  Fork            0.725          0.823          0.984          0              0              0              43
  17  Bread           0.827          0.861          2.449          0              0              0              43
  18  Spatula         0.950          0.838          0.984          0              0              0              43
  19  PaperTowelRoll  0.725          0.927          0.895          0              180            0              43
  20  Potato          -2.743         1.451          2.333          0              90             0              75
  21  SoapBottle      -1.243         0.127          3.713          0              0              0              63
  22  Egg             -0.921         0.936          1.246          0              90             0              84
  23  Cup             -0.921         0.900          1.349          0              90             0              84
  24  Pot             0.913          0.850          1.768          0              0              0              64
  25  SaltShaker      -1.343         0.124          3.751          0              0              0              63
  26  Pan             -2.667         0.812          3.74           0              137.145        0              66
  27  PepperShaker    -2.463         1.395          4.015          0              0              0              57
  28  ButterKnife     -2.172         0.812          3.552          0              0              0              66
  29  Tomato          1.024          0.891          2.285          0              0              0              48
  30  DishSponge      -2.619         1.848          1.853          0              0              0              68
  31  Lettuce         -0.580         0.956          1.358          31.822         0              0              84
  32  Spoon           -0.657         0.901          1.246          0              180            0              84
  33  Apple           -2.448         0.780          1.840          0              90             0              75
  34  Knife           -1.169         0.846          3.902          0              270            0              66
  35  Mug             -1.109         0.940          1.203          0              0              0              84
  36  Bowl            0.743          0.124          2.238          0              0              0              58
  37  Drawer          0.729          0.703          2.199          0              0              0
  38  Cabinet         -1.962         1.926          3.733          0              0              0
  39  Cabinet         -2.377         2.014          1.058          0              0              0
  40  Drawer          0.729          0.703          2.532          0              0              0
  41  Cabinet         -2.622         1.925          3.733          0              0              0
  42  StoveBurner     0.913          0.843          1.375          0              0              0
  43  CounterTop      0.864          0.858          0.984          0              0              0
  44  Cabinet         -1.976         1.779          3.734          0              0              0
  45  Cabinet         0.580          0.385          0.819          0              0              0
  46  Cabinet         -2.379         1.408          1.677          0              0              0
  47  Cabinet         -0.419         1.703          3.736          0              0              0
  48  CounterTop      0.864          0.858          2.371          0              0              0
  49  Sink            -1.702         0.726          3.828          0              180            0
  50  Cabinet         0.580          0.385          2.694          0              0              0
  51  Cabinet         -2.379         0.637          1.677          0              0              0
  52  Cabinet         -0.419         0.674          3.736          0              0              0
  53  Cabinet         -2.377         2.014          2.558          0              0              0
  54  Drawer          0.729          0.703          0.980          0              0              0
  55  Drawer          -2.114         0.706          3.657          0              0              0
  56  Cabinet         -2.377         1.691          2.572          0              0              0
  57  Cabinet         -2.951         1.925          3.733          0              0              0
  58  Cabinet         0.580          0.385          2.360          0              0              0
  59  Cabinet         -2.426         0.435          3.421          0              0              0
  60  StoveBurner     0.642          0.843          1.375          0              0              0
  61  Cabinet         -2.377         1.927          1.686          0              0              0
  62  Cabinet         -2.377         2.013          3.177          0              0              0
  63  Cabinet         -1.136         0.385          3.516          0              0              0
  64  StoveBurner     0.913          0.843          1.768          0              0              0
  65  Cabinet         -1.974         0.385          3.516          0              0              0
  66  CounterTop      -2.081         0.858          3.799          0              0              0
  67  Cabinet         -2.426         0.435          3.174          0              0              0
  68  Cabinet         -2.377         2.014          1.693          0              0              0
  69  Cabinet         -1.986         0.385          3.511          0              0              0
  70  StoveBurner     0.642          0.843          1.768          0              0              0
  71  Cabinet         -1.098         1.926          3.729          0              0              0
  72  Microwave       -1.529         1.250          3.881          1.622          180            0
  73  CoffeeMachine   1.000          0.812          2.492          0              270            0
  74  LightSwitch     0.825          1.396          4.082          0              180            0
  75  Fridge          -2.642         0.0            2.134          0              180            0
  76  Window          -1.131         1.673          0.808          90             0              0
  77  GarbageCan      0.931          -0.000         2.918          0              0              0
  78  SinkBasin       -1.601         0.686          3.774          0              0              0
  79  StoveKnob       1.104          1.002          1.886          0              0              70.346
  80  StoveKnob       1.104          1.002          1.733          0              0              70.346
  81  StoveKnob       1.104          1.002          1.321          0              0              70.346
  82  StoveKnob       1.104          1.002          1.481          0              0              70.346
  83  Toaster         -2.247         0.812          3.862          0              180            0
  84  DiningTable     -0.917         -0.000         1.203          0              0              0
  85  Stool           -0.932         0.000          1.404          1.196          21.715         0
  86  Faucet          -1.842         0.809          3.984          0              180            0
  87  Faucet          -1.371         0.809          3.985          0              180            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn left, walk straight, turn right to the sink | STEP 2: Pick up the knife on the sink | STEP 3: Turn right, turn right, walk straight, turn left, walk straight to the counter | STEP 4: Slice the tomato on the counter | STEP 5: Turn right, turn right, walk straight to the fridge | STEP 6: Open the fridge, put the knife inside, close the fridge | STEP 7: Turn right, turn right, walk straight to the counter | STEP 8: Pick up a slice of tomato on top of the counter | STEP 9: Turn right, turn right, walk straight to the fridge | STEP 10: Open the fridge, put the slice of tomato inside, close the fridge. Open the fridge, take out the slice of tomato, close the fridge. | STEP 11: Turn right, walk straight, turn left to the sink | STEP 12: Open the microwave above the sink, put the slice in the microwave | END