Task: To cool a tomato slice and 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           -1.75          0.914          2.25           0              0              0
   1  Potato          -0.994         0.923          0.049          0              90             0              78
   2  Spoon           -3.038         0.747          2.861          0              270            0              44
   3  Spoon           -1.787         0.892          0.358          0              90             0              78
   4  Cup             -3.176         0.915          1.273          0              0              0              51
   5  Cup             -0.089         0.986          4.176          0              180            0              68
   6  Tomato          -0.323         1.610          4.033          0              180            0              68
   7  Tomato          -3.463         0.984          1.106          0              0              0              51
   8  Tomato          -1.793         0.858          3.625          0              0              0              72
   9  SoapBottle      -1.523         0.891          0.255          0              90             0              78
  10  Bowl            -0.790         0.721          3.843          0              180            0              68
  11  Bowl            -3.081         0.914          1.440          0              0              0              51
  12  SaltShaker      -1.391         0.887          0.152          0              90             0              78
  13  SaltShaker      -3.525         1.991          2.363          0              0              0              57
  14  PepperShaker    -0.994         0.887          0.152          0              90             0              78
  15  PepperShaker    -3.098         0.742          3.356          0              0              0              52
  16  Bread           -1.815         0.996          4.104          0              0              0              42
  17  Mug             -1.127         0.886          -0.053         0              90             0              78
  18  Apple           -3.081         0.975          1.106          0              0              0              51
  19  Egg             -1.729         0.824          3.811          0              0              0              72
  20  Knife           -3.176         0.939          3.008          0              0              0              42
  21  Fork            -0.994         0.892          0.461          0              90             0              78
  22  Bread           -3.559         0.997          1.440          0              0              0              51
  23  Potato          -1.655         0.923          -0.053         0              90             0              78
  24  Plate           -3.368         0.919          2.844          0              0              0              42
  25  Pot             -3.424         0.966          1.971          0              0              0              50
  26  Kettle          -3.424         0.966          2.374          0              0              0              48
  27  WineBottle      -3.505         1.455          3.805          0              0              0              59
  28  Bowl            -0.556         0.985          3.926          0              180            0              68
  29  Tomato          -3.368         0.984          1.273          0              0              0              51
  30  Cup             -0.790         0.986          3.988          0              180            0              68
  31  Spatula         -1.504         0.930          4.146          0              0              0              42
  32  SoapBottle      -1.259         0.891          0.152          0              90             0              78
  33  Lettuce         -1.259         0.977          0.358          0              180            0              78
  34  Pan             -2.614         0.902          3.620          0              0              0              42
  35  Apple           -1.161         0.147          3.820          0              270            0              74
  36  SaltShaker      -1.655         0.887          0.152          0              90             0              78
  37  PepperShaker    -3.505         1.451          3.654          0              0              0              59
  38  ButterKnife     -1.523         0.891          0.461          0              90             0              78
  39  DishSponge      -3.463         0.915          3.663          0              0              0              42
  40  Spoon           -1.428         0.916          3.890          0              90             0              42
  41  Mug             -3.654         0.910          1.106          0              0              0              51
  42  CounterTop      -3.381         0.950          3.335          0              0              0
  43  Drawer          -3.121         0.775          1.357          0              0              0
  44  Drawer          -3.121         0.777          2.916          0              0              0
  45  StoveBurner     -3.148         0.958          2.374          0              0              0
  46  Sink            -1.797         0.917          3.660          0              0              0
  47  Cabinet         -1.421         0.388          3.459          0              0              0
  48  StoveBurner     -3.424         0.958          2.374          0              0              0
  49  Cabinet         -3.365         1.931          2.676          0              0              0
  50  StoveBurner     -3.424         0.958          1.971          0              0              0
  51  CounterTop      -3.381         0.951          1.356          0              0              0
  52  Drawer          -3.121         0.781          3.295          0              0              0
  53  Cabinet         -2.205         0.388          3.459          0              0              0
  54  Cabinet         -2.963         0.388          3.459          0              0              0
  55  Cabinet         -2.992         0.388          2.683          0              0              0
  56  Cabinet         -3.352         2.205          1.715          0              0              0
  57  Cabinet         -3.352         2.205          2.653          0              0              0
  58  Cabinet         -2.189         0.388          3.466          0              0              0
  59  Cabinet         -3.365         1.931          3.963          0              0              0
  60  Cabinet         -3.365         1.931          1.056          0              0              0
  61  Cabinet         -2.992         0.388          1.037          0              0              0
  62  StoveBurner     -3.143         0.958          1.971          0              0              0
  63  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  64  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  65  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  66  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  67  Toaster         -2.654         0.902          4.064          0              180            0
  68  Fridge          -0.439         0.014          3.996          0              0              0
  69  LightSwitch     0.25           1.383          2.085          0              270            0
  70  Window          -1.430         1.338          -0.347         90             0              0
  71  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  72  SinkBasin       -1.802         0.778          3.700          0              0              0
  73  Microwave       -3.484         1.430          2.182          0              90             0
  74  GarbageCan      -1.184         -0.020         3.794          0              270            0
  75  Blinds          -1.404         2.092          -0.296         0              0              0
  76  Stool           -1.373         0.014          1.048          1.214          20.754         0
  77  Faucet          -1.788         0.903          3.931          270            90             0
  78  DiningTable     -1.399         0.010          0.238          0              0              0
  79  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

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