Task: To cut plus heat a slice of tomato as well as place it on the counter.

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           1.124          -2.0           0              180            0
   1  Potato          -2.004         1.376          -0.911         0              0              0              61
   2  DishSponge      -1.818         0.343          1.420          0              0              0              55
   3  WineBottle      0.506          1.323          -3.164         0              0              0              54
   4  WineBottle      -1.381         1.323          -1.269         0              0              0              54
   5  Kettle          -2.049         1.324          1.419          0              0              0              54
   6  Kettle          -1.817         0.344          0.211          0              0              0              52
   7  Spoon           0.506          1.324          -2.424         0              0              0              54
   8  Spoon           -1.826         1.065          -0.496         0              0              0              72
   9  Spatula         0.636          1.337          -1.683         0              0              0              54
  10  Egg             -1.530         1.363          -1.941         0              0              0              54
  11  Plate           0.976          0.345          -2.164         0              180            0              53
  12  Plate           -1.818         0.344          1.110          0              0              0              55
  13  Knife           -1.380         1.352          -3.092         0              0              0              54
  14  SoapBottle      1.053          0.345          -1.751         0              180            0              53
  15  SoapBottle      -1.727         0.344          -2.362         0              0              0              50
  16  Tomato          1.027          1.241          1.222          0              0              0              79
  17  Tomato          1.095          1.709          1.840          0              270            0              67
  18  Tomato          -1.610         0.314          2.151          0              270            0              69
  19  Bowl            0.277          1.321          -3.011         0              0              0              54
  20  SaltShaker      -1.789         0.338          -2.262         0              0              0              50
  21  Bread           -1.660         1.397          1.419          0              0              0              54
  22  Bread           -1.530         1.397          -2.461         0              0              0              54
  23  Lettuce         -1.920         1.399          -2.981         0              0              0              54
  24  Mug             -1.749         0.338          0.412          0              0              0              52
  25  Mug             -2.179         1.318          -3.241         0              0              0              54
  26  Bread           -1.513         1.380          0.662          0              0              0              54
  27  Pot             -0.630         1.331          -3.301         0              180            0              51
  28  Knife           0.492          1.352          -2.678         0              0              0              54
  29  Bowl            -1.817         0.342          0.613          0              0              0              52
  30  Potato          -1.451         1.362          -3.203         0              0              0              54
  31  SoapBottle      0.747          0.345          -1.957         0              180            0              53
  32  Fork            0.981          0.953          1.019          0              0              0              77
  33  Cup             1.213          1.307          0.913          0              270            0              79
  34  Kettle          -0.749         1.332          -2.973         0              0              0              57
  35  Egg             -1.530         1.363          0.445          0              0              0              54
  36  Pan             -1.881         0.327          -2.035         0              0              0              50
  37  SaltShaker      -1.401         1.318          1.744          0              0              0              54
  38  WineBottle      -1.920         1.323          0.445          0              0              0              54
  39  Lettuce         -1.891         1.400          -1.073         1.301          0              355.701        61
  40  Spatula         -1.790         1.337          -2.721         0              270            0              54
  41  PaperTowelRoll  -1.401         1.427          2.069          0              0              0              54
  42  Tomato          1.276          1.241          1.222          0              0              0              79
  43  Plate           -1.920         1.323          0.770          0              0              0              54
  44  PepperShaker    -1.665         0.338          -2.162         0              0              0              50
  45  DishSponge      -1.645         0.419          -1.152         0              0              0              60
  46  Spoon           0.861          1.208          1.222          0              0              0              79
  47  Apple           1.056          1.724          1.722          0              270            0              67
  48  Mug             -2.093         1.329          -1.186         0              0              0              61
  49  StoveBurner     -0.239         1.325          -3.301         0              180            0
  50  Cabinet         -1.461         0.775          -2.002         0              0              0
  51  StoveBurner     -0.630         1.325          -3.301         0              180            0
  52  Cabinet         -1.461         0.775          0.470          0              0              0
  53  Cabinet         0.578          0.776          -2.054         0              0              0
  54  CounterTop      -1.809         1.358          1.182          0              0              0
  55  Cabinet         -1.461         0.775          1.310          0              0              0
  56  Faucet          -2.063         1.362          -0.726         0              39.391         0
  57  StoveBurner     -0.749         1.325          -2.973         0              0              0
  58  Drawer          -1.610         0.681          -0.430         0              0              0
  59  Window          -2.566         1.799          -0.822         270            0              0
  60  Drawer          -1.610         0.681          -1.217         0              0              0
  61  Sink            -1.990         1.143          -0.975         0              0              0
  62  StoveBurner     -0.125         1.325          -2.973         0              0              0
  63  StoveKnob       -0.185         1.338          -2.741         0              270            180
  64  StoveKnob       -0.336         1.338          -2.741         0              270            180
  65  StoveKnob       -0.569         1.338          -2.741         0              270            180
  66  StoveKnob       -0.707         1.338          -2.741         0              270            180
  67  Fridge          1.013          0.227          1.917          0              270            0
  68  Microwave       0.994          1.310          -2.163         0              270            0
  69  GarbageCan      -1.633         0.212          2.192          0              270            0
  70  LightSwitch     1.386          1.565          -0.657         0              270            0
  71  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  72  SinkBasin       -1.835         1.039          -0.542         0              0              0
  73  ButterKnife     0.873          0.468          0.651          0              0              0
  74  Toaster         -1.885         1.310          -2.512         0              90             0
  75  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  76  Drawer          0.647          1.061          0.680          0              270            0
  77  Drawer          0.648          1.061          1.020          0              270            0
  78  Drawer          0.648          0.843          1.020          0              270            0
  79  SideTable       0.975          0.220          0.869          0              270            0
  80  Drawer          0.648          0.602          0.680          0              270            0
  81  Drawer          0.648          0.596          1.020          0              270            0
  82  Drawer          0.648          0.843          0.680          0              270            0
  83  Stool           0.606          0.222          -1.084         1.233          280.489        0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn to the right to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around, walk across the room, then turn right and cross the room to face the tomato. | STEP 4: Cut the front tomato on the microwave into slices. | STEP 5: Step to the right and face the microwave. | STEP 6: Place the knife into the microwave. | STEP 7: Step to the left and face the tomato on the counter. | STEP 8: Pick up a slice of the tomato on the counter. | STEP 9: Step to the right and turn to face the microwave. | STEP 10: Heat the tomato slice in the microwave and then remove it. | STEP 11: Step to the left and face the counter. | STEP 12: Place the tomato slice on the counter beside the spoon. | END