Task: Place a slice of tomato inside of 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: Turn right and walk towards the door, turn left and walk towards the stove, turn left. | STEP 2: Pick up the knife on the counter underneath the lettuce. | STEP 3: Turn all the way around and walk towards the wall, turn right towards the table. | STEP 4: Take the knife and cut up the tomato into slices.  | STEP 5: Take the knife, turn right and walk towards the stove, turn left and walk towards the refrigerator, then turn right.  | STEP 6: Open the refrigerator and place the knife next to the yellow apple by the black cup then close the door. | STEP 7: Turn right and walk towards the stove, then turn right and walk towards the wall, then turn right towards the table. | STEP 8: Pick up a tomato slice from the table.  | STEP 9: Turn right and walk towards the stove, turn right and walk towards the refrigerator, then turn right. | STEP 10: Open the refrigerator and place the slice of tomato behind the knife on the shelf on the left side of the yellow apple, then close the door. | STEP 11: Open the door and pick up the tomato slice then close the door. Turn right and walk towards the stove, turn right then walk towards the wall, then turn left towards the microwave.  | STEP 12: Open the microwave and place the tomato slice in front of the gold bowl next to the potato then close the door. | END