Task: place chilled tomato slice in microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          -1.0           0              0              0
   1  Potato          -1.027         1.045          -1.671         0              0              0              77
   2  DishSponge      -0.096         0.911          0.458          0              0              0              54
   3  DishSponge      0.701          0.919          -1.516         0              270            0              53
   4  ButterKnife     1.785          0.912          0.540          0              0              0              70
   5  Fork            0.167          0.912          0.540          0              0              0              54
   6  Fork            1.785          0.912          0.292          0              0              0              70
   7  Spoon           0.341          0.784          -1.648         0              270            0              78
   8  Spoon           1.903          0.913          -1.820         0              0              0              55
   9  Spatula         -2.065         0.967          0.614          0              270            0              88
  10  Egg             -2.614         0.987          0.165          0              90             0              88
  11  Egg             -0.096         0.947          0.375          0              0              0              54
  12  Cup             -1.872         1.491          -1.720         0              0              0              85
  13  Plate           -0.096         0.111          -1.508         0              0              0              64
  14  Plate           -0.586         0.111          -1.508         0              0              0              69
  15  SoapBottle      -2.477         0.950          0.345          0              90             0              88
  16  SoapBottle      0.856          0.918          -1.449         0              270            0              53
  17  Tomato          0.753          0.968          -1.649         0              270            0              53
  18  Tomato          0.908          0.968          -1.582         0              270            0              53
  19  Bowl            0.035          0.911          0.292          0              0              0              54
  20  SaltShaker      -1.928         0.948          0.165          0              90             0              88
  21  PepperShaker    -2.065         0.948          0.614          0              90             0              88
  22  Bread           1.658          0.995          -1.654         0              0              0              55
  23  Lettuce         -2.203         1.042          0.255          0              90             0              88
  24  Apple           -0.296         0.137          0.439          0              90             0              84
  25  Apple           -0.329         0.137          0.612          0              90             0              84
  26  Bread           -0.451         0.995          -1.737         0              0              0              55
  27  Knife           -2.065         0.977          0.345          0              180            0              88
  28  Fork            0.025          0.773          0.306          0              0              0              61
  29  Bowl            -2.31          1.051          -1.720         0              0              0              85
  30  Kettle          0.445          0.111          0.346          0              0              0              66
  31  Cup             -2.614         0.950          0.255          0              90             0              88
  32  Tomato          -2.614         1.001          0.704          0              90             0              88
  33  SoapBottle      0.122          0.105          0.242          0              0              0              65
  34  Plate           -2.047         0.781          -1.806         0              0              0              85
  35  Pot             1.007          0.962          0.561          0              270            0              57
  36  Spatula         -2.203         0.967          0.704          0              180            0              88
  37  PaperTowelRoll  -2.203         1.056          0.435          0              90             0              88
  38  Egg             0.960          0.954          -1.848         0              270            0              53
  39  Lettuce         1.846          1.002          0.458          0              0              0              70
  40  SaltShaker      1.681          1.325          -1.772         0              180            0              71
  41  PepperShaker    1.601          0.908          0.458          0              0              0              70
  42  Apple           -0.427         0.137          0.525          0              90             0              84
  43  ButterKnife     -2.065         0.952          0.524          0              90             0              88
  44  Potato          -2.222         1.522          -1.849         0              0              0              85
  45  Pan             1.022          0.959          0.288          0              219.190        0              67
  46  DishSponge      -1.791         0.951          0.165          0              90             0              88
  47  Spoon           -0.242         0.773          -1.538         0              90             0              58
  48  Mug             0.908          0.914          -1.782         0              90             0              53
  49  Cabinet         -0.193         1.688          -1.648         0              180            0
  50  StoveBurner     1.360          0.957          0.293          0              180            0
  51  Drawer          0.499          0.792          0.296          0              0              0
  52  Cabinet         0.095          0.400          -1.352         0              180            0
  53  Sink            0.711          0.817          -1.772         0              270            0
  54  CounterTop      0.280          0.947          0.458          0              0              0
  55  CounterTop      -0.680         0.947          -1.654         0              0              0
  56  Drawer          1.825          0.792          0.296          0              0              0
  57  StoveBurner     1.007          0.957          0.561          0              270            0
  58  Drawer          -0.150         0.792          -1.496         0              0              0
  59  Drawer          -0.586         0.792          -1.496         0              0              0
  60  StoveBurner     1.360          0.957          0.561          0              270            0
  61  Drawer          0.024          0.792          0.296          0              0              0
  62  Cabinet         1.079          0.400          -1.349         0              180            0
  63  Cabinet         1.669          0.402          0.151          0              0              0
  64  Cabinet         0.055          0.402          -1.351         0              0              0
  65  Cabinet         -0.180         0.402          0.151          0              0              0
  66  Cabinet         0.729          0.402          0.151          0              0              0
  67  StoveBurner     1.007          0.957          0.293          0              180            0
  68  Drawer          -1.100         0.792          -1.496         0              0              0
  69  Cabinet         -0.396         0.402          -1.351         0              0              0
  70  CounterTop      1.776          0.947          0.458          0              0              0
  71  Cabinet         1.974          1.688          -1.648         0              180            0
  72  Cabinet         -0.820         0.400          -1.349         0              180            0
  73  Toaster         0.305          0.900          0.552          0              180            0
  74  LightSwitch     -2.756         1.307          -0.987         0              90             0
  75  Window          0.582          1.613          -1.967         90             0              0
  76  Window          1.969          1.5            -0.615         90             270            0
  77  Microwave       -1.037         0.900          -1.723         0              0              0
  78  SinkBasin       0.377          0.765          -1.655         0              270            0
  79  CoffeeMachine   0.618          0.900          0.600          0              180            0
  80  StoveKnob       1.246          0.913          0.118          45             180            0
  81  StoveKnob       1.373          0.913          0.118          45             180            0
  82  StoveKnob       0.995          0.913          0.118          45             180            0
  83  StoveKnob       1.126          0.913          0.118          45             180            0
  84  GarbageCan      -0.368         -0.029         0.539          0              90             0
  85  Fridge          -2.134         0.0            -1.690         0              0              0
  86  Faucet          0.549          1.046          -1.833         0              232.527        0
  87  Stool           -1.475         0.000          0.414          1.233          280.375        0
  88  DiningTable     -2.255         -0.004         0.432          0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: turn left, go to white dining table to the right | STEP 2: pick up knife to the right of lettuce on white table | STEP 3: turn right, go to green bin at end of counter | STEP 4: slice tomato on the back left of green bin | STEP 5: place knife in green bin | STEP 6: pick up tomato slice from green bin | STEP 7: turn around, go to black refrigerator to the right | STEP 8: open refrigerator, place tomato slice on second shelf of refrigerator to the right of blue plate, close refrigerator, open refrigerator, pick up tomato slice from refrigerator, close refrigerator | STEP 9: go to microwave to the left | STEP 10: open microwave, place tomato slice on the left side of plate in microwave, close microwave | END