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           -2.5           0.900          1.0            0              270            0
   1  Potato          -0.771         1.155          0.478          0              0              0              62
   2  Ladle           -0.292         1.086          1.920          0              0              0              50
   3  DishSponge      -1.111         0.931          0.498          0              0              0              72
   4  DishSponge      -2.089         0.095          0.545          0              0              0              52
   5  ButterKnife     -1.288         0.931          0.359          0              0              0              72
   6  Fork            -2.137         1.125          0.379          0              90             0              60
   7  Fork            -1.465         0.932          0.567          0              180            0              72
   8  Spoon           -3.814         1.126          0.662          0              0              0              57
   9  Spoon           -2.135         0.904          0.544          0              90             0              58
  10  Spatula         -1.199         0.946          0.359          0              0              0              72
  11  Egg             -3.778         1.155          0.190          0              0              0              57
  12  Egg             -3.248         0.758          3.132          0              90             0              67
  13  Cup             -1.885         1.122          0.662          0              0              0              60
  14  Cup             -0.883         1.122          0.115          0              0              0              62
  15  Plate           -1.156         0.047          0.551          0              0              0              54
  16  SoapBottle      -3.696         0.113          2.068          0              0              0              71
  17  SoapBottle      -1.995         0.096          0.646          0              0              0              52
  18  Tomato          -2.388         1.165          0.473          0              0              0              60
  19  Lettuce         -0.908         1.124          2.817          0              0              0              50
  20  Mug             -2.137         1.119          0.662          0              0              0              60
  21  Mug             -1.562         0.044          0.438          0              0              0              65
  22  Apple           -3.639         1.354          2.920          0              90             0              67
  23  Fork            -0.785         1.047          1.920          0              0              0              50
  24  SoapBottle      -3.593         0.113          2.008          0              0              0              71
  25  Pot             -3.000         1.133          0.480          0              270            0              55
  26  Ladle           -0.662         1.086          2.144          0              0              0              50
  27  Potato          -3.44          1.590          3.132          0              90             0              67
  28  Plate           -0.538         1.046          2.593          0              0              0              50
  29  Bread           -0.538         1.134          2.369          0              0              0              50
  30  Lettuce         -3.339         0.969          3.081          0              228.265        312.447        67
  31  Spatula         -0.785         1.063          2.817          0              90             0              50
  32  Pan             -0.266         1.038          2.561          0              0              0              50
  33  Egg             -1.663         1.184          0.108          0              0              0              47
  34  Cup             -1.288         0.929          0.567          0              0              0              72
  35  SaltShaker      -2.601         0.898          0.544          0              0              0              59
  36  Knife           -0.538         1.080          3.266          0              0              0              50
  37  Bowl            -2.639         1.122          0.379          0              0              0              60
  38  PepperShaker    -1.522         0.045          0.551          0              0              0              65
  39  ButterKnife     -2.011         1.124          0.662          0              0              0              60
  40  Apple           -0.662         1.114          3.042          0              0              0              50
  41  Tomato          -0.785         1.088          3.266          0              0              0              50
  42  DishSponge      -0.292         1.047          2.144          0              0              0              50
  43  Spoon           -1.568         1.155          0.108          0              0              0              47
  44  Mug             -0.203         1.223          0.443          0              0              0              73
  45  StoveKnob       -3.322         1.053          0.709          45             0              0
  46  StoveBurner     -3.474         1.097          0.227          0              180            0
  47  Sink            -1.394         0.982          0.439          0              0              0
  48  StoveBurner     -3.474         1.097          0.479          0              180            0
  49  StoveKnob       -3.164         1.053          0.709          45             0              0
  50  DiningTable     -0.620         0.017          2.486          0              0              0
  51  Drawer          -2.043         0.608          0.594          0              0              0
  52  Drawer          -2.043         0.216          0.594          0              0              0
  53  Drawer          -2.498         0.216          0.594          0              0              0
  54  Cabinet         -1.001         0.393          0.734          0              0              0
  55  StoveBurner     -3.000         1.097          0.480          0              0              0
  56  StoveKnob       -3.492         1.053          0.709          45             0              0
  57  CounterTop      -3.856         1.160          0.379          0              0              0
  58  Drawer          -2.043         0.937          0.599          0              0              0
  59  Drawer          -2.509         0.937          0.599          0              0              0
  60  CounterTop      -2.280         1.160          0.379          0              0              0
  61  StoveKnob       -2.985         1.053          0.709          45             0              0
  62  CounterTop      -0.514         1.160          0.492          0              0              0
  63  Drawer          -2.498         0.608          0.594          0              0              0
  64  StoveBurner     -3.000         1.097          0.227          0              0              0
  65  Cabinet         -1.733         0.393          0.734          0              0              0
  66  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  67  Fridge          -3.519         0.0            2.717          0              90             0
  68  Window          -1.394         1.924          0.014          90             0              0
  69  Window          -3.266         1.924          0.014          90             0              0
  70  Toaster         -0.225         1.038          2.865          0              270            0
  71  GarbageCan      -3.696         0.002          2.008          0              0              0
  72  SinkBasin       -1.389         0.921          0.428          0              0              0
  73  Microwave       -0.366         1.113          0.430          0              0              0
  74  HousePlant      -2.155         1.101          0.169          0              332.897        0
  75  LightSwitch     -2.584         1.299          3.5            0              180            0
  76  Faucet          -1.393         1.373          0.168          0              270            0
  77  NorthWall
  78  SouthWall
  79  SouthWall

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