Task: To heat a tomato slice and place it on the edge of the sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          2.75           0              90             0
   1  Pan             -0.244         0.829          2.075          0              180            0              44
   2  DishSponge      -0.092         0.823          1.326          0              0              0              49
   3  Fork            -0.292         0.696          1.288          0              270            0              45
   4  Fork            -2.813         0.824          0.871          0              0              0              49
   5  Spoon           -0.916         0.711          0.378          0              90             0              52
   6  Spoon           -2.658         0.824          0.625          0              0              0              49
   7  Spatula         -2.957         0.838          0.426          0              270            0              49
   8  Egg             -2.910         0.945          1.337          0              90             0              68
   9  Egg             -2.877         0.945          1.443          0              90             0              68
  10  Cup             -2.837         1.445          2.397          0              90             0              67
  11  Cup             -0.477         0.823          0.658          0              0              0              49
  12  Plate           -2.671         1.148          2.397          0              90             0              67
  13  Plate           -2.671         1.148          2.045          0              90             0              67
  14  Knife           -2.044         0.849          0.549          0              0              0              49
  15  Tomato          -2.726         1.193          2.221          0              90             0              67
  16  SoapBottle      -2.000         0.123          0.362          0              0              0              61
  17  SaltShaker      -2.835         1.429          1.157          0              0              0              57
  18  Mug             -2.882         1.429          0.941          0              0              0              57
  19  Mug             -0.646         0.888          0.367          0              0              0              77
  20  Apple           -2.581         0.896          0.953          0              0              0              49
  21  Apple           -0.329         0.129          2.572          0              0              0              69
  22  Fork            -1.709         0.824          0.518          0              0              0              49
  23  Ladle           -1.580         0.169          0.401          0              0              0              62
  24  Pan             -2.781         0.824          2.133          0              180            0              67
  25  SoapBottle      -2.905         1.432          1.588          0              0              0              57
  26  Pot             -0.531         0.822          2.096          0              0              0              46
  27  Tomato          -2.504         0.873          0.625          0              0              0              49
  28  Potato          -2.837         1.484          2.221          0              90             0              67
  29  SaltShaker      -2.858         1.430          0.674          0              0              0              58
  30  Plate           -2.569         0.126          1.510          0              0              0              60
  31  Spatula         -2.375         0.838          0.278          0              0              0              49
  32  Knife           -1.151         0.849          0.278          0              270            0              49
  33  Egg             -0.429         0.080          2.572          0              0              0              69
  34  Cup             -2.810         0.921          1.284          0              90             0              68
  35  ButterKnife     -0.817         0.813          0.425          358.402        0              0              49
  36  Lettuce         -1.836         0.741          0.238          0              55.910         0              76
  37  PepperShaker    -2.397         1.431          0.169          0              0              0              56
  38  DishSponge      -2.608         0.823          0.426          0              0              0              49
  39  Bread           -0.979         0.855          0.239          0              30.295         0              49
  40  Spoon           -1.876         0.824          0.528          0              0              0              49
  41  Mug             -2.735         0.818          0.953          0              0              0              49
  42  Bowl            -0.246         0.820          1.103          0              0              0              49
  43  Cabinet         -2.377         2.015          1.720          0              0              0
  44  StoveBurner     -0.244         0.820          2.075          0              180            0
  45  Drawer          -0.402         0.703          1.252          0              0              0
  46  StoveBurner     -0.518         0.820          2.075          0              180            0
  47  Sink            -1.838         0.726          0.343          0              180            0
  48  StoveBurner     -0.244         0.820          1.684          0              0              0
  49  CounterTop      -1.557         0.859          0.277          0              0              0
  50  StoveBurner     -0.518         0.820          1.684          0              0              0
  51  Drawer          -0.404         0.704          0.912          0              0              0
  52  Drawer          -0.861         0.709          0.420          0              0              0
  53  Drawer          -1.133         0.706          0.418          0              0              0
  54  Drawer          -2.589         0.703          1.511          0              0              0
  55  Cabinet         -2.772         1.803          0.508          0              0              0
  56  Cabinet         -2.460         1.803          0.231          0              0              0
  57  Cabinet         -2.781         1.798          0.825          0              0              0
  58  Cabinet         -2.781         1.798          0.815          0              0              0
  59  Cabinet         -2.377         2.009          2.581          0              0              0
  60  Cabinet         -2.442         0.385          1.672          0              0              0
  61  Cabinet         -2.238         0.385          0.564          0              0              0
  62  Cabinet         -1.286         0.385          0.564          0              0              0
  63  Cabinet         -1.262         0.385          0.565          0              0              0
  64  Cabinet         -0.734         0.385          0.565          0              0              0
  65  Cabinet         -0.549         0.385          0.751          0              0              0
  66  Cabinet         -0.549         0.385          1.412          0              0              0
  67  Fridge          -2.782         0.0            2.221          0              0              0
  68  Microwave       -2.794         0.812          1.348          0              90             0
  69  GarbageCan      -0.329         2.205          2.606          0              0              0
  70  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  71  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  72  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  73  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  74  Window          -1.720         1.342          -0.208         90             0              0
  75  Toaster         -0.171         0.812          0.735          0              270            0
  76  SinkBasin       -1.745         0.687          0.295          0              0              0
  77  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  78  LightSwitch     -0.615         1.378          3.0            0              180            0
  79  Faucet          -1.686         0.954          0.176          0              236.223        0
  80  Stool           -1.008         0.008          1.955          0              18.279         0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn right and cross the room to face the sink. | STEP 2: Pick up the knife on the sink. | STEP 3: Turn right to face the tomato on the corner of the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Take a step to the right to face the microwave. | STEP 6: Place the knife in the microwave. | STEP 7: Take a step to the left to face the tomato on the counter. | STEP 8: Pick up a slice of tomato on the counter. | STEP 9: Take a step to the right to face the microwave. | STEP 10: Heat the tomato slice in the microwave and remove it. | STEP 11: Turn left to face the sink. | STEP 12: Place the tomato slice on the edge of the sink. | END