Task: Put a heated tomato slice on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          0.25           0              270            0
   1  DishSponge      2.222          1.654          1.508          0              0              0              70
   2  DishSponge      2.238          0.770          -0.536         0              180            0              59
   3  ButterKnife     2.221          0.911          1.214          0              0              0              81
   4  ButterKnife     -0.766         0.820          -1.360         0              180            0              105
   5  Spoon           -0.151         0.912          1.383          0              180            0              57
   6  Spoon           -0.103         0.912          1.044          0              0              0              57
   7  Fork            0.263          0.766          -0.707         0              90             0              103
   8  Fork            1.558          0.772          -0.422         0              270            0              76
   9  Spatula         0.349          0.926          -0.330         0              0              0              46
  10  Spatula         2.156          0.926          -0.854         0              90             0              46
  11  Plate           1.955          0.914          1.299          0              0              0              81
  12  Plate           2.488          0.914          1.214          0              0              0              81
  13  Egg             2.591          0.762          -0.504         0              0              0              101
  14  Egg             2.962          0.762          -0.473         0              0              0              101
  15  SoapBottle      1.155          0.917          1.299          0              0              0              81
  16  SoapBottle      2.488          0.917          1.468          0              0              0              81
  17  Tomato          2.591          1.594          -0.775         0              0              0              101
  18  SaltShaker      -0.007         0.908          1.044          0              0              0              57
  19  SaltShaker      1.522          1.651          -0.771         0              180            0              68
  20  PepperShaker    -0.983         0.817          -1.257         0              90             0              105
  21  Lettuce         -0.785         0.901          -1.400         0              0              0              105
  22  Apple           -1.991         0.492          1.459          0              270            0              99
  23  SoapBottle      1.098          0.120          -0.421         0              180            0              54
  24  Plate           2.754          0.914          1.468          0              0              0              81
  25  Fork            -1.056         0.821          -1.206         0              90             0              105
  26  Pot             0.281          0.964          1.082          0              0              0              52
  27  Bread           1.03           0.953          -0.518         0              0              0              46
  28  Egg             -0.198         0.949          1.299          0              0              0              57
  29  Kettle          0.678          0.964          1.345          0              0              0              84
  30  Tomato          -0.157         0.797          -0.707         0              0              0              103
  31  Cup             1.688          0.909          1.129          0              0              0              81
  32  Spatula         -0.694         0.835          -1.360         0              90             0              105
  33  Apple           -1.962         0.492          1.290          0              270            0              99
  34  Pan             0.053          0.765          -0.707         0              0              0              103
  35  Lettuce         2.777          1.099          -0.644         0              0              0              101
  36  SaltShaker      -0.887         0.817          -1.255         0              0              0              105
  37  Knife           -0.939         0.853          -1.328         0              270            0              105
  38  Potato          2.838          1.323          -0.709         0              0              0              101
  39  PepperShaker    1.792          0.111          1.196          0              0              0              66
  40  ButterKnife     1.688          0.911          1.044          0              0              0              81
  41  Bowl            2.653          1.286          -0.512         0              0              0              101
  42  DishSponge      -0.983         0.820          -1.103         0              90             0              105
  43  Spoon           -1.056         0.822          -1.360         0              90             0              105
  44  Mug             0.415          1.779          1.455          0              180            0              104
  45  Sink            0.050          0.902          -0.648         0              0              0
  46  CounterTop      1.358          0.947          -0.600         0              0              0
  47  Cabinet         2.986          2.009          1.304          0              0              0
  48  Cabinet         1.022          2.009          -0.607         0              180            0
  49  StoveBurner     0.678          0.923          1.082          0              0              0
  50  Cabinet         2.371          0.402          0.995          0              0              0
  51  Drawer          -0.125         0.792          0.995          0              0              0
  52  StoveBurner     0.281          0.923          1.082          0              0              0
  53  Cabinet         1.025          0.402          0.995          0              0              0
  54  Cabinet         1.023          0.402          -0.296         0              180            0
  55  Cabinet         0.974          2.259          1.304          0              0              0
  56  Cabinet         0.979          2.009          -0.607         0              180            0
  57  CounterTop      -0.158         0.947          1.299          0              0              0
  58  Cabinet         1.725          2.009          1.304          0              0              0
  59  Drawer          2.205          0.792          -0.294         0              180            0
  60  Drawer          1.869          0.792          -0.294         0              180            0
  61  StoveBurner     0.281          0.923          1.347          0              0              0
  62  Drawer          2.512          0.792          0.995          0              0              0
  63  Cabinet         1.673          0.402          -0.296         0              180            0
  64  Drawer          1.524          0.792          0.995          0              0              0
  65  Drawer          1.174          0.792          -0.294         0              180            0
  66  Cabinet         1.720          0.402          0.995          0              0              0
  67  Cabinet         2.348          2.009          -0.607         0              180            0
  68  Cabinet         1.676          2.009          -0.607         0              180            0
  69  Cabinet         1.673          2.009          1.304          0              0              0
  70  Cabinet         2.326          2.009          1.304          0              0              0
  71  Cabinet         2.370          2.009          1.304          0              0              0
  72  Cabinet         0.021          2.009          1.304          0              0              0
  73  Cabinet         1.025          2.009          1.304          0              0              0
  74  Cabinet         -0.274         0.402          0.995          0              0              0
  75  Cabinet         1.675          0.402          0.995          0              0              0
  76  Drawer          1.524          0.792          -0.294         0              180            0
  77  Drawer          2.187          0.792          0.995          0              0              0
  78  Cabinet         2.977          0.402          0.995          0              0              0
  79  Drawer          1.862          0.792          0.995          0              0              0
  80  Cabinet         0.072          2.259          1.304          0              0              0
  81  CounterTop      1.917          0.947          1.299          0              0              0
  82  Cabinet         2.328          0.402          0.995          0              0              0
  83  Cabinet         1.723          2.009          -0.607         0              180            0
  84  StoveBurner     0.677          0.923          1.345          0              0              0
  85  Cabinet         0.355          2.009          -0.607         0              180            0
  86  Cabinet         0.332          2.009          -0.607         0              180            0
  87  Cabinet         2.349          0.402          -0.296         0              180            0
  88  Cabinet         -0.284         2.009          -0.607         0              180            0
  89  Faucet          0.061          0.906          -0.903         0              0              0
  90  Drawer          2.837          0.792          0.995          0              0              0
  91  Drawer          1.175          0.792          0.995          0              0              0
  92  Cabinet         1.723          0.402          -0.296         0              180            0
  93  StoveKnob       0.588          1.093          1.557          287.970        0              0
  94  StoveKnob       0.188          1.093          1.557          287.970        0              0
  95  StoveKnob       0.749          1.093          1.557          287.970        0              0
  96  StoveKnob       0.338          1.093          1.557          287.970        0              0
  97  Toaster         1.934          0.900          -0.717         0              0              0
  98  LightSwitch     -1.662         1.427          1.649          0              180            0
  99  GarbageCan      -1.965         -0.029         1.358          0              270            0
 100  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 101  Fridge          3.043          0.0            -0.709         0              0              0
 102  Window          -2.183         1.501          -0.014         90             270            0
 103  SinkBasin       0.043          0.755          -0.651         0              0              0
 104  Microwave       0.531          1.675          1.437          0              180            0
 105  DiningTable     -0.836         8.404          -1.258         0              0              0
 106  Chair           -1.611         0.002          -1.185         0              45             0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: Turn left to the table. | STEP 2: Pick up the knife that's behind the spatula and next to the lettuce on the table. | STEP 3: Carry the knife to the sink to the left of the table. | STEP 4: Cut the tomato in the sink. | STEP 5: Turn around to face the cabinet. | STEP 6: Put the knife in the cabinet to the left of the oven. | STEP 7: Turn around to face the sink again. | STEP 8: Pick up a tomato slice from the tomato in the sink. | STEP 9: Turn around to face the oven and the microwave. | STEP 10: Put the tomato slice in the microwave and microwave it.  Take the slice out. | STEP 11: Turn left, walk across the room, turn left toward the table. | STEP 12: Set the tomato slice in front of the sponge on the table. | END