Task: Putting a cold sliced tomato 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           -0.25          0.899          1.5            0              180            0
   1  Potato          -0.218         1.719          3.915          0              270            0              108
   2  Potato          -3.494         0.956          5.259          0              90             0              75
   3  DishSponge      -0.104         0.924          5.932          0              0              0              60
   4  WineBottle      -2.109         0.924          1.8            0              0              0              57
   5  Fork            -0.258         0.925          5.932          0              90             0              60
   6  Spoon           -1.938         0.747          1.956          0              0              0              73
   7  Cup             -1.610         0.922          1.724          0              0              0              57
   8  Egg             -0.565         0.960          6.591          0              0              0              60
   9  Plate           -4.163         0.085          2.625          0              0              0              67
  10  Plate           -0.411         0.925          4.615          0              0              0              60
  11  Knife           -4.312         0.953          2.416          0              90             0              75
  12  Knife           -1.777         0.953          1.951          0              0              0              57
  13  Tomato          -3.712         0.125          6.292          0              270            0              101
  14  Bowl            -4.266         1.453          2.018          0              45             0              76
  15  Bowl            -0.301         1.332          3.974          0              270            0              108
  16  SaltShaker      -4.438         0.919          3.082          0              0              0              75
  17  PepperShaker    -3.481         0.741          5.192          0              180            0              66
  18  Lettuce         -0.411         1.020          5.273          0              0              0              60
  19  Lettuce         -0.181         1.020          5.603          0              0              0              60
  20  Bread           -4.204         1.003          1.951          0              0              0              75
  21  Mug             -0.409         0.955          6.557          0              270            0              96
  22  Mug             -1.860         0.918          1.573          0              0              0              57
  23  Apple           -3.784         0.122          6.457          0              270            0              101
  24  Apple           -2.583         1.599          1.731          0              0              0              105
  25  Egg             -2.635         1.582          1.633          0              0              0              105
  26  Apple           -4.233         0.844          3.097          0              270            0              107
  27  Knife           -4.108         0.953          5.418          0              90             0              75
  28  Potato          -0.181         0.958          4.944          0              0              0              60
  29  Fork            -4.159         0.791          3.472          0              0              0              107
  30  Bowl            -1.943         0.920          1.951          0              0              0              57
  31  Plate           -3.807         1.459          5.511          0              90             0              79
  32  Lettuce         -4.196         0.886          3.347          0              270            0              107
  33  Bread           -0.295         1.150          3.726          0              270            0              108
  34  Tomato          -0.181         0.982          5.273          0              0              0              60
  35  WineBottle      -3.449         1.454          1.638          0              0              0              49
  36  Spatula         -4.242         0.938          2.533          0              90             0              75
  37  PaperTowelRoll  -4.381         1.027          2.649          0              0              0              75
  38  Cup             -1.777         0.922          1.724          0              0              0              57
  39  Pencil          -3.675         0.068          6.416          0              270            0              101
  40  Pan             -2.924         0.930          1.712          0              180            0              72
  41  Pot             -2.469         0.930          1.712          0              270            0              90
  42  SaltShaker      -0.244         2.132          6.600          0              180            0              59
  43  SoapBottle      -1.610         0.923          1.951          0              90             0              57
  44  PepperShaker    -2.026         0.919          1.648          0              0              0              57
  45  ButterKnife     -1.943         0.923          1.648          0              180            0              57
  46  DishSponge      -0.565         0.924          6.261          0              0              0              60
  47  Spoon           -3.135         0.924          5.259          0              90             0              75
  48  Mug             -0.383         1.330          3.726          0              270            0              108
  49  Cabinet         -3.203         1.931          1.777          0              0              0
  50  Cabinet         -3.187         0.390          2.089          0              0              0
  51  Cabinet         -0.637         0.387          6.882          0              180            0
  52  Drawer          -3.797         0.781          1.961          0              0              0
  53  Cabinet         -3.036         0.387          5.029          0              90             0
  54  Drawer          -0.509         0.775          5.268          0              270            0
  55  Drawer          -4.125         0.798          2.499          0              0              0
  56  Cabinet         -0.331         2.249          4.308          0              180            0
  57  CounterTop      -1.872         0.958          1.799          0              0              0
  58  StoveBurner     -2.924         0.924          2.012          0              0              0
  59  Cabinet         -0.331         2.249          6.806          0              180            0
  60  CounterTop      -0.345         0.960          5.603          0              0              0
  61  Cabinet         -3.039         1.935          5.321          0              90             0
  62  Cabinet         -3.922         0.397          2.088          0              0              0
  63  StoveBurner     -2.467         0.924          2.012          0              0              0
  64  Cabinet         -0.331         2.249          5.505          0              180            0
  65  Drawer          -0.509         0.775          4.617          0              270            0
  66  Drawer          -3.509         0.777          5.157          0              180            0
  67  Cabinet         -3.961         0.388          2.878          0              0              0
  68  Cabinet         -3.961         0.388          4.342          0              0              0
  69  Cabinet         -0.637         0.387          5.582          0              180            0
  70  Cabinet         -0.637         0.388          4.299          0              180            0
  71  Cabinet         -0.637         0.388          5.599          0              180            0
  72  StoveBurner     -2.924         0.924          1.712          0              180            0
  73  Drawer          -1.859         0.775          1.961          0              0              0
  74  Cabinet         -0.331         2.249          5.609          0              180            0
  75  CounterTop      -4.260         0.958          4.943          0              90             0
  76  Cabinet         -4.284         1.931          2.226          0              0              0
  77  Cabinet         -0.331         2.249          3.010          0              180            0
  78  Drawer          -3.801         0.777          5.157          0              180            0
  79  Cabinet         -4.112         1.935          5.321          0              90             0
  80  Cabinet         -3.968         0.388          3.662          0              0              0
  81  Drawer          -3.418         0.777          1.961          0              0              0
  82  Drawer          -4.090         0.777          4.661          0              90             0
  83  Faucet          -4.441         0.909          3.288          270            0              0
  84  Cabinet         -0.331         2.249          4.207          0              180            0
  85  Cabinet         -3.961         0.388          2.119          0              0              0
  86  Drawer          -0.509         0.775          5.920          0              270            0
  87  Drawer          -3.193         0.777          5.157          0              180            0
  88  Cabinet         -3.968         0.388          2.894          0              0              0
  89  Cabinet         -3.667         0.387          5.029          0              90             0
  90  StoveBurner     -2.469         0.924          1.712          0              270            0
  91  Cabinet         -1.539         0.388          2.090          0              0              0
  92  Sink            -4.190         0.921          3.279          0              0              0
  93  Cabinet         -3.641         0.387          5.029          0              90             0
  94  Cabinet         -1.583         1.931          1.777          0              0              0
  95  Drawer          -0.509         0.775          6.568          0              270            0
  96  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  97  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  98  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  99  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 100  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 101  GarbageCan      -3.711         -0.030         6.376          0              270            0
 102  Toaster         -3.578         0.912          1.763          0              0              0
 103  Curtains        -4.522         2.252          3.391          90             90             0
 104  Window          -4.868         1.629          3.309          90             270            0
 105  Microwave       -2.693         1.430          1.689          0              0              0
 106  LightSwitch     -1.588         1.169          1.506          0              0              0
 107  SinkBasin       -4.196         0.780          3.276          0              270            0
 108  Fridge          -0.324         -0.001         3.602          0              0              0
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: Turn right and stop at the left of the counter | STEP 2: Grab the knife off of the counter | STEP 3: Turn right and stop at the counter to the left of the fridge | STEP 4: Slice the tomato on the counter | STEP 5: Put the knife on the counter | STEP 6: Grab a slice of the tomato | STEP 7: Turn right and go to the fridge | STEP 8: Cool the tomato in the fridge and then take it out | STEP 9: Turn around and go to the microwave | STEP 10: Put the tomato in the microwave | END