Task: To cool a slice of tomato 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           -0.25          0.908          3.25           0              0              0
   1  Pan             -1.320         1.420          1.092          0              180            0              91
   2  Pan             0.802          0.939          -0.473         0              0              0              79
   3  SprayBottle     0.860          2.154          -0.819         0              0              0              55
   4  DishSponge      -1.475         0.748          2.830          0              0              0              52
   5  DishSponge      1.262          0.115          1.081          0              0              0              63
   6  Kettle          0.502          0.939          -0.740         0              90             0              78
   7  Spoon           1.365          0.912          -0.428         0              90             0              71
   8  Fork            1.286          0.912          -0.144         0              0              0              71
   9  Spatula         -1.211         0.927          -0.392         0              180            0              77
  10  Cup             1.200          0.885          2.692          0              0              0              103
  11  Cup             -1.383         0.748          2.644          0              0              0              52
  12  Plate           -0.252         0.117          -0.533         0              0              0              67
  13  Plate           -1.325         2.154          1.093          0              0              0              69
  14  Knife           1.444          0.933          0.422          0              0              0              71
  15  Tomato          1.034          0.936          2.692          0              0              0              103
  16  Tomato          -0.919         0.799          3.015          0              0              0              52
  17  SoapBottle      1.450          0.887          2.692          0              0              0              103
  18  SoapBottle      0.951          0.887          2.369          0              0              0              103
  19  Bread           -1.012         0.813          2.273          0              0              0              52
  20  Lettuce         -0.082         0.829          -0.612         0              0              0              98
  21  Lettuce         -1.290         0.820          2.830          0              0              0              52
  22  Mug             -1.092         1.631          0.883          0              90             0              91
  23  Mug             -1.197         0.743          3.015          0              90             0              52
  24  Apple           -1.394         1.075          -0.005         0              90             0              97
  25  Apple           -1.105         0.809          1.902          0              0              0              52
  26  Bread           1.128          0.974          0.139          0              0              0              71
  27  Glassbottle     1.049          0.912          0.706          0              0              0              71
  28  Fork            1.444          0.912          -0.428         0              90             0              71
  29  Kettle          -1.105         0.750          2.644          0              0              0              52
  30  Tomato          -1.383         0.799          2.459          0              0              0              52
  31  Plate           -0.813         0.912          -0.509         0              0              0              77
  32  CellPhone       -1.278         0.909          -0.907         0              0              0              77
  33  Lettuce         1.200          0.957          2.261          0              0              0              103
  34  Pot             0.802          0.939          -0.740         0              90             0              80
  35  SoapBottle      1.444          0.912          0.706          0              0              0              71
  36  WineBottle      -1.099         0.342          0.988          0              90             0              91
  37  Spatula         -1.197         0.764          2.459          0              0              0              52
  38  Bowl            1.325          1.654          -0.393         0              0              0              55
  39  Apple           1.450          0.946          2.369          0              0              0              103
  40  Cup             1.293          2.153          0.957          0              0              0              62
  41  Knife           1.128          0.933          -0.144         0              270            0              71
  42  Egg             1.034          0.920          2.584          0              0              0              103
  43  SaltShaker      -1.045         0.113          0.165          0              180            0              74
  44  PepperShaker    -0.968         0.908          -0.828         0              0              0              77
  45  Potato          -1.475         0.793          2.273          0              0              0              52
  46  ButterKnife     1.049          0.911          -0.712         0              90             0              71
  47  DishSponge      1.444          0.911          0.139          0              0              0              71
  48  Pan             -1.332         0.9            -0.699         0              345.0          0              77
  49  Spoon           1.367          0.887          2.477          0              0              0              103
  50  SprayBottle     1.523          0.910          -0.428         0              0              0              71
  51  Mug             -0.919         0.743          2.459          0              0              0              52
  52  DiningTable     -1.182         0.006          2.414          0              90             0
  53  Cabinet         1.184          2.059          0.375          0              0              0
  54  Cabinet         1.184          2.059          -0.635         0              0              0
  55  Cabinet         0.591          2.309          -0.645         0              0              0
  56  Cabinet         -0.574         2.059          -0.644         0              0              0
  57  Cabinet         -1.103         2.059          -0.644         0              0              0
  58  Cabinet         -1.185         2.059          -0.331         0              0              0
  59  Cabinet         -1.185         2.059          -0.281         0              0              0
  60  Cabinet         -1.185         2.059          0.375          0              0              0
  61  Cabinet         1.184          2.309          1.174          0              0              0
  62  Cabinet         1.184          2.309          0.424          0              0              0
  63  Cabinet         0.988          0.402          0.581          0              0              0
  64  Cabinet         0.988          0.402          0.531          0              0              0
  65  Cabinet         0.988          0.402          -0.178         0              0              0
  66  Cabinet         0.335          0.402          -0.348         0              0              0
  67  Cabinet         -0.374         0.402          -0.348         0              0              0
  68  Cabinet         0.988          0.402          1.231          0              0              0
  69  Cabinet         -1.185         2.309          1.374          0              0              0
  70  Cabinet         -1.185         2.309          0.424          0              0              0
  71  CounterTop      1.274          0.947          0.064          0              0              0
  72  Drawer          1.116          0.792          -0.015         0              0              0
  73  Drawer          -1.116         0.792          0.210          0              180            0
  74  Cabinet         -0.990         0.402          0.374          0              180            0
  75  Drawer          -1.116         0.792          -0.170         0              180            0
  76  Cabinet         -0.990         0.402          -0.335         0              180            0
  77  CounterTop      -1.001         0.947          -0.669         0              0              0
  78  StoveBurner     0.502          0.932          -0.740         0              90             0
  79  StoveBurner     0.801          0.932          -0.473         0              0              0
  80  StoveBurner     0.801          0.932          -0.740         0              90             0
  81  Drawer          1.116          0.792          1.081          0              0              0
  82  Sink            -0.013         0.912          -0.615         0              0              0
  83  Drawer          1.116          0.792          0.732          0              0              0
  84  StoveBurner     0.502          0.932          -0.469         0              0              0
  85  Drawer          1.116          0.792          0.367          0              0              0
  86  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  87  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  90  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  91  Fridge          -1.300         0.008          0.987          0              90             0
  92  GarbageCan      1.296          -0.024         1.465          0              0              0
  93  Window          -0.012         1.641          -0.972         90             0              0
  94  Window          1.598          1.646          2.489          90             270            0
  95  Toaster         1.356          0.900          1.044          0              270            0
  96  LightSwitch     0.118          1.353          3.799          0              180            0
  97  Microwave       -1.343         0.900          0.053          0              90             0
  98  SinkBasin       -0.029         0.748          -0.612         0              0              0
  99  Faucet          -0.026         0.927          -0.808         0              0              0
 100  Shelf           -1.182         0.127          2.414          0              90             0
 101  Stool           1.140          0.007          3.262          1.206          20.753         0
 102  Shelf           -1.182         0.435          2.414          0              90             0
 103  DiningTable     1.169          0.014          2.569          0              0              1.896
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn around and walk across the room to face the counter to the left of the stove. | STEP 2: Pick up the knife on the back of the counter. | STEP 3: Turn around and walk across the room, then turn left and walk forward to face the white table. | STEP 4: Cut the tomato on the table into slices. | STEP 5: Turn left and walk across the room to face the microwave. | STEP 6: Place the knife in the microwave. | STEP 7: Turn right and walk forward to face the tomato at the end of the white table. | STEP 8: Pick up a potato slice on the white table. | STEP 9: Turn left and walk forward to face the fridge on the right. | STEP 10: Cool the tomato slice in the fridge and then remove it | STEP 11: Take a step to the left and face the microwave on the counter. | STEP 12: Place the tomato slice in the microwave. | END