Task: To heat a tomato slice and place it in 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           -0.5           0.914          0.5            0              90             0
   1  DishSponge      -1.666         0.789          3.737          0              0              0              70
   2  WineBottle      -3.231         0.084          1.122          0              0              0              59
   3  WineBottle      -3.195         0.082          2.808          0              0              0              53
   4  Kettle          -3.424         0.966          2.374          0              0              0              46
   5  Kettle          -1.711         0.916          4.104          0              0              0              40
   6  Spatula         -3.272         0.930          1.106          0              90             0              49
   7  Fork            -1.391         0.892          0.049          0              90             0              76
   8  Fork            -3.463         0.916          1.440          0              0              0              49
   9  Tomato          -3.081         0.984          1.273          0              0              0              49
  10  Tomato          -1.192         0.155          3.788          0              270            0              72
  11  Bowl            -1.655         0.890          -0.053         0              90             0              76
  12  SaltShaker      -3.458         1.990          1.999          0              0              0              54
  13  SaltShaker      -3.068         0.742          1.202          0              0              0              41
  14  Lettuce         -0.994         0.977          0.255          0              90             0              76
  15  Lettuce         -1.259         0.977          0.358          0              180            0              76
  16  Mug             -3.368         0.910          1.440          0              0              0              49
  17  Egg             -1.391         0.926          0.255          0              90             0              76
  18  Knife           -3.068         0.769          1.510          0              270            0              41
  19  Fork            -1.449         0.916          4.106          0              90             0              40
  20  Bread           -0.673         1.067          3.926          0              180            0              66
  21  Potato          -0.439         1.018          3.801          0              180            0              66
  22  Plate           -3.005         0.904          3.677          0              0              0              40
  23  Pot             -3.144         0.963          2.374          0              0              0              43
  24  Kettle          -3.113         0.084          1.356          0              0              0              59
  25  WineBottle      -1.259         0.892          -0.053         0              90             0              76
  26  Bowl            -3.654         0.914          1.189          0              0              0              49
  27  Tomato          -1.127         0.960          -0.053         0              90             0              76
  28  Cup             -1.793         0.789          3.662          0              0              0              70
  29  Spatula         -0.994         0.906          0.358          0              90             0              76
  30  SoapBottle      -3.081         0.915          2.844          0              0              0              40
  31  Lettuce         -1.919         1.001          4.146          0              0              0              40
  32  Pan             -3.143         0.966          1.971          0              0              0              60
  33  Apple           -0.556         0.782          3.869          0              180            0              66
  34  SaltShaker      -3.185         0.741          1.433          0              0              0              41
  35  PepperShaker    -1.523         0.887          0.358          0              90             0              76
  36  ButterKnife     -3.463         0.915          1.189          0              0              0              49
  37  DishSponge      -3.081         0.915          1.607          0              0              0              49
  38  Spoon           -3.463         0.916          1.189          0              0              0              49
  39  Mug             -3.424         0.945          3.275          0              90             0              40
  40  CounterTop      -3.381         0.950          3.335          0              0              0
  41  Drawer          -3.121         0.775          1.357          0              0              0
  42  Drawer          -3.121         0.777          2.916          0              0              0
  43  StoveBurner     -3.148         0.958          2.374          0              0              0
  44  Sink            -1.797         0.917          3.660          0              0              0
  45  Cabinet         -1.421         0.388          3.459          0              0              0
  46  StoveBurner     -3.424         0.958          2.374          0              0              0
  47  Cabinet         -3.365         1.931          2.676          0              0              0
  48  StoveBurner     -3.424         0.958          1.971          0              0              0
  49  CounterTop      -3.381         0.951          1.356          0              0              0
  50  Drawer          -3.121         0.781          3.295          0              0              0
  51  Cabinet         -2.205         0.388          3.459          0              0              0
  52  Cabinet         -2.963         0.388          3.459          0              0              0
  53  Cabinet         -2.992         0.388          2.683          0              0              0
  54  Cabinet         -3.352         2.205          1.715          0              0              0
  55  Cabinet         -3.352         2.205          2.653          0              0              0
  56  Cabinet         -2.189         0.388          3.466          0              0              0
  57  Cabinet         -3.365         1.931          3.963          0              0              0
  58  Cabinet         -3.365         1.931          1.056          0              0              0
  59  Cabinet         -2.992         0.388          1.037          0              0              0
  60  StoveBurner     -3.143         0.958          1.971          0              0              0
  61  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  62  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  63  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  64  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  65  Toaster         -2.654         0.902          4.064          0              180            0
  66  Fridge          -0.439         0.014          3.996          0              0              0
  67  LightSwitch     0.25           1.383          2.085          0              270            0
  68  Window          -1.430         1.338          -0.347         90             0              0
  69  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  70  SinkBasin       -1.802         0.778          3.700          0              0              0
  71  Microwave       -3.484         1.430          2.182          0              90             0
  72  GarbageCan      -1.184         -0.020         3.794          0              270            0
  73  Blinds          -1.404         2.092          -0.296         0              0              0
  74  Stool           -1.373         0.014          1.048          1.214          20.754         0
  75  Faucet          -1.788         0.903          3.931          270            90             0
  76  DiningTable     -1.399         0.010          0.238          0              0              0
  77  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn around and cross the room to face the knife on the counter. | STEP 2: PIck up the knife on the counter. | STEP 3: Turn right and cross the room to face the trash can beside the fridge. | STEP 4: Cut the tomato in the trash can into slices. | STEP 5: Place the knife in the trash can. | STEP 6: Pick up a slice of tomato in the trash can. | STEP 7: Turn left and walk forward to face the microwave. | STEP 8: Heat the tomato slice in the microwave and remove it. | STEP 9: Turn right and walk forward to face the sink. | STEP 10: Place the tomato slice in the sink. | END