Task: TO cut and heat a tomato slice and place it on the kitchen table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          -0.5           0              90             0
   1  Potato          -1.991         0.458          1.290          0              270            0              98
   2  Kettle          0.281          0.964          1.347          0              0              0              60
   3  ButterKnife     0.123          0.765          -0.707         0              270            0              102
   4  ButterKnife     -0.694         0.820          -1.206         0              90             0              104
   5  Spoon           0.123          0.766          -0.651         0              0              0              102
   6  Fork            2.217          0.771          1.198          0              270            0              76
   7  Spatula         0.193          0.780          -0.707         0              90             0              102
   8  Cup             1.688          0.909          1.299          0              0              0              80
   9  Egg             2.962          1.326          -0.709         0              0              0              100
  10  Knife           1.688          0.944          1.214          0              0              0              80
  11  SoapBottle      1.210          0.120          -0.383         0              180            0              53
  12  Tomato          1.688          0.942          1.553          0              0              0              80
  13  Tomato          -1.962         0.455          1.417          0              270            0              98
  14  Bowl            -0.123         0.112          1.196          0              0              0              73
  15  Bowl            1.141          0.909          -0.430         0              0              0              45
  16  PepperShaker    -0.103         0.908          1.129          0              0              0              56
  17  Bread           1.422          0.969          1.468          0              0              0              80
  18  Bread           2.777          1.621          -0.578         0              0              0              100
  19  Lettuce         1.955          0.992          1.214          0              0              0              80
  20  Lettuce         1.955          0.992          1.468          0              0              0              80
  21  Apple           -0.939         0.889          -1.400         0              0              0              104
  22  SoapBottle      1.155          0.917          1.383          0              0              0              80
  23  Plate           2.838          1.021          -0.709         0              0              0              100
  24  Fork            1.155          0.912          1.214          0              270            0              80
  25  Pot             0.281          0.964          1.082          0              0              0              51
  26  Bread           -0.198         0.969          1.299          0              0              0              56
  27  Egg             2.900          1.601          -0.840         0              0              0              100
  28  Kettle          0.710          0.9            -0.772         0              0              0              45
  29  Tomato          -1.056         0.852          -1.360         0              90             0              104
  30  Cup             0.570          1.782          1.391          0              180            0              103
  31  Spatula         -0.682         0.835          -1.255         0              90             0              104
  32  Apple           2.653          1.357          -0.709         0              0              0              100
  33  Pan             0.637          0.960          1.090          0              0              0              48
  34  Lettuce         2.754          0.992          1.214          0              0              0              80
  35  SaltShaker      -0.621         0.817          -1.155         0              90             0              104
  36  Knife           -0.055         0.944          1.383          0              90             0              56
  37  Potato          2.962          0.760          -0.565         0              0              0              100
  38  PepperShaker    2.221          0.908          1.044          0              0              0              80
  39  ButterKnife     0.634          0.911          -0.430         0              0              0              45
  40  Bowl            0.178          2.154          1.467          0              0              0              79
  41  DishSponge      -0.836         0.820          -1.183         0              0              0              104
  42  Spoon           0.634          0.912          -0.430         0              0              0              45
  43  Mug             2.156          0.906          -0.769         0              0              0              45
  44  Sink            0.050          0.902          -0.648         0              0              0
  45  CounterTop      1.358          0.947          -0.600         0              0              0
  46  Cabinet         2.986          2.009          1.304          0              0              0
  47  Cabinet         1.022          2.009          -0.607         0              180            0
  48  StoveBurner     0.678          0.923          1.082          0              0              0
  49  Cabinet         2.371          0.402          0.995          0              0              0
  50  Drawer          -0.125         0.792          0.995          0              0              0
  51  StoveBurner     0.281          0.923          1.082          0              0              0
  52  Cabinet         1.025          0.402          0.995          0              0              0
  53  Cabinet         1.023          0.402          -0.296         0              180            0
  54  Cabinet         0.974          2.259          1.304          0              0              0
  55  Cabinet         0.979          2.009          -0.607         0              180            0
  56  CounterTop      -0.158         0.947          1.299          0              0              0
  57  Cabinet         1.725          2.009          1.304          0              0              0
  58  Drawer          2.205          0.792          -0.294         0              180            0
  59  Drawer          1.869          0.792          -0.294         0              180            0
  60  StoveBurner     0.281          0.923          1.347          0              0              0
  61  Drawer          2.512          0.792          0.995          0              0              0
  62  Cabinet         1.673          0.402          -0.296         0              180            0
  63  Drawer          1.524          0.792          0.995          0              0              0
  64  Drawer          1.174          0.792          -0.294         0              180            0
  65  Cabinet         1.720          0.402          0.995          0              0              0
  66  Cabinet         2.348          2.009          -0.607         0              180            0
  67  Cabinet         1.676          2.009          -0.607         0              180            0
  68  Cabinet         1.673          2.009          1.304          0              0              0
  69  Cabinet         2.326          2.009          1.304          0              0              0
  70  Cabinet         2.370          2.009          1.304          0              0              0
  71  Cabinet         0.021          2.009          1.304          0              0              0
  72  Cabinet         1.025          2.009          1.304          0              0              0
  73  Cabinet         -0.274         0.402          0.995          0              0              0
  74  Cabinet         1.675          0.402          0.995          0              0              0
  75  Drawer          1.524          0.792          -0.294         0              180            0
  76  Drawer          2.187          0.792          0.995          0              0              0
  77  Cabinet         2.977          0.402          0.995          0              0              0
  78  Drawer          1.862          0.792          0.995          0              0              0
  79  Cabinet         0.072          2.259          1.304          0              0              0
  80  CounterTop      1.917          0.947          1.299          0              0              0
  81  Cabinet         2.328          0.402          0.995          0              0              0
  82  Cabinet         1.723          2.009          -0.607         0              180            0
  83  StoveBurner     0.677          0.923          1.345          0              0              0
  84  Cabinet         0.355          2.009          -0.607         0              180            0
  85  Cabinet         0.332          2.009          -0.607         0              180            0
  86  Cabinet         2.349          0.402          -0.296         0              180            0
  87  Cabinet         -0.284         2.009          -0.607         0              180            0
  88  Faucet          0.061          0.906          -0.903         0              0              0
  89  Drawer          2.837          0.792          0.995          0              0              0
  90  Drawer          1.175          0.792          0.995          0              0              0
  91  Cabinet         1.723          0.402          -0.296         0              180            0
  92  StoveKnob       0.588          1.093          1.557          287.970        0              0
  93  StoveKnob       0.188          1.093          1.557          287.970        0              0
  94  StoveKnob       0.749          1.093          1.557          287.970        0              0
  95  StoveKnob       0.338          1.093          1.557          287.970        0              0
  96  Toaster         1.934          0.900          -0.717         0              0              0
  97  LightSwitch     -1.662         1.427          1.649          0              180            0
  98  GarbageCan      -1.965         -0.029         1.358          0              270            0
  99  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 100  Fridge          3.043          0.0            -0.709         0              0              0
 101  Window          -2.183         1.501          -0.014         90             270            0
 102  SinkBasin       0.043          0.755          -0.651         0              0              0
 103  Microwave       0.531          1.675          1.437          0              180            0
 104  DiningTable     -0.836         8.404          -1.258         0              0              0
 105  Chair           -1.611         0.002          -1.185         0              45             0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn to the right to face the kitchen table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 4: Cut the tomato at the back of the counter. | STEP 5: Turn left and walk across the room, then turn left and approach the kitchen table. | STEP 6: Place the knife on the kitchen table. | STEP 7: Turn around and walk over towards the counter with 2 heads of lettuce on it. | STEP 8: Pick up a slice of tomato on the counter. | STEP 9: Step to the left and look up to face the microwave. | STEP 10: Warm the tomato slice in the microwave and then remove it. | STEP 11: Turn left and walk across the room, then turn left and approach the kitchen table. | STEP 12: Place the tomato slice on the right side of the kitchen table. | END