Task: Put cold 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           0.901          -0.25          0              180            0
   1  WineBottle      1.298          0.082          2.523          0              0              0              52
   2  DishSponge      1.118          0.794          2.529          0              0              0              70
   3  ButterKnife     -0.349         0.791          0.881          0              0              0              73
   4  Spatula         0.682          0.810          2.750          0              270            0              70
   5  Spoon           1.223          0.796          2.64           0              0              0              70
   6  Fork            -0.042         0.791          0.377          0              0              0              73
   7  Egg             -0.261         1.078          1.961          0              90             0              71
   8  Egg             -0.196         0.833          1.049          0              0              0              73
   9  Cup             2.164          0.600          -0.007         0              270            0              67
  10  Knife           1.850          0.771          2.197          0              270            0              61
  11  SaltShaker      -0.196         0.785          1.386          0              0              0              73
  12  Mug             0.788          0.790          2.529          0              0              0              70
  13  Apple           -0.349         0.840          1.217          0              0              0              73
  14  Apple           2.071          0.988          0.361          0              0              0              57
  15  Egg             -0.395         1.078          2.014          0              90             0              71
  16  Lettuce         2.059          0.400          -0.188         0              270            0              67
  17  Fork            0.060          0.938          2.548          0              0              0              46
  18  SoapBottle      0.033          0.791          0.545          0              0              0              73
  19  Ladle           1.923          0.126          0.724          0              0              0              43
  20  Ladle           1.989          0.791          2.197          0              270            0              61
  21  Bread           2.074          0.985          1.964          0              0              0              46
  22  SaltShaker      1.844          0.932          2.359          0              0              0              46
  23  Potato          2.132          0.378          -0.550         0              270            0              67
  24  Pan             2.140          0.935          1.504          0              180            0              41
  25  WineBottle      -0.042         0.791          1.217          0              0              0              73
  26  Spatula         1.802          0.760          0.721          0              270            0              55
  27  Knife           -0.068         0.771          2.197          0              270            0              45
  28  Tomato          -0.196         0.837          0.545          0              0              0              73
  29  Apple           2.000          1.373          -0.007         0              270            0              67
  30  ButterKnife     1.917          0.938          0.509          0              180            0              57
  31  Pot             1.854          0.937          1.497          0              0              0              50
  32  PepperShaker    -0.042         0.785          0.881          0              0              0              73
  33  Cup             2.241          1.501          0.785          0              0              0              54
  34  DishSponge      -0.358         0.036          -0.832         0              90             0              68
  35  Plate           1.923          0.086          0.512          0              0              0              43
  36  Spoon           0.002          0.747          1.993          0              0              0              45
  37  Mug             -0.196         0.785          1.217          0              0              0              73
  38  Bowl            1.156          0.078          2.523          0              0              0              52
  39  Cabinet         2.041          2.113          2.618          0              0              0
  40  Cabinet         0.126          0.388          1.774          0              0              0
  41  StoveBurner     2.140          0.929          1.504          0              180            0
  42  Cabinet         1.760          0.388          2.346          0              0              0
  43  Cabinet         1.760          0.388          0.869          0              0              0
  44  Cabinet         2.041          1.810          0.283          0              0              0
  45  Drawer          -0.024         0.774          2.061          0              0              0
  46  CounterTop      1.065          0.973          2.666          0              0              0
  47  Cabinet         1.969          2.113          2.618          0              0              0
  48  StoveBurner     2.140          0.929          1.106          0              0              0
  49  Cabinet         2.041          2.113          1.809          0              0              0
  50  StoveBurner     1.866          0.929          1.504          0              180            0
  51  Cabinet         2.041          2.113          1.766          0              0              0
  52  Cabinet         1.514          0.388          2.360          0              0              0
  53  Cabinet         0.351          0.388          2.360          0              0              0
  54  Cabinet         2.041          1.810          0.872          0              0              0
  55  Drawer          2.167          0.774          0.582          0              0              0
  56  Cabinet         2.041          2.113          0.892          0              0              0
  57  CounterTop      2.060          0.973          0.583          0              0              0
  58  Sink            0.935          0.936          2.646          0              0              0
  59  Curtains        0.964          2.061          2.989          0              0              0
  60  StoveBurner     1.863          0.929          1.106          0              0              0
  61  Drawer          1.911          0.774          2.060          0              0              0
  62  StoveKnob       2.326          1.092          1.610          288.013        90             0
  63  StoveKnob       2.326          1.092          1.460          288.013        90             0
  64  StoveKnob       2.326          1.092          1.210          288.013        90             0
  65  StoveKnob       2.326          1.092          1.050          288.013        90             0
  66  Toaster         2.126          0.926          0.572          0              270            0
  67  Fridge          2.104          0.0            -0.279         0              270            0
  68  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  69  LightSwitch     0.354          1.518          -1.031         0              0              0
  70  SinkBasin       0.903          0.784          2.640          0              0              0
  71  Microwave       -0.310         0.926          2.077          0              90             0
  72  CoffeeMachine   2.084          0.927          2.667          0              225            0
  73  DiningTable     -0.153         -0.000         1.073          0              270            0
  74  Faucet          1.175          0.926          2.950          270            90             0
  75  Faucet          0.686          0.926          2.950          270            90             0
  76  Chair           -0.077         0.002          0.196          0              15.000         0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Back up, turn to the left, go forward, turn to the left, go forward to the table on the left where the pepper mill is.  | STEP 2: Pick up the butter knife that is on the table behind the pepper mill. | STEP 3: Turn to the left, go forward, then turn to the right to where the fork is on the table.  | STEP 4: Use the knife the cut the tomato into slices.  | STEP 5: Turn to the right, go forward, turn to the left to the table where the pepper mill is, back up.  | STEP 6: Put the butter knife down on the table to the left of the pepper mill.  | STEP 7: Go forward, turn to the left, go forward, turn to the right to the table where the tomato is.  | STEP 8: Pick up a slice of tomato from the table.  | STEP 9: Turn to the left, go forward, turn to the left, go to the fridge.  | STEP 10: Open the fridge, put the tomato on the top shelf to get cold, close the fridge, remove the cold tomato from the fridge, close the fridge.  | STEP 11: Turn to the left, go to the sink, turn to the left, go to the microwave.  | STEP 12: Put the tomato inside the microwave and close the door. | END