Task: To heat a slice of tomato and place it on the black end table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.869          -3.0           0              90             0
   1  Potato          0.669          0.698          -2.190         0              270            0              61
   2  DishSponge      0.841          0.664          0.448          0              0              0              46
   3  ButterKnife     0.950          0.883          -0.245         0              0              0              41
   4  Spatula         0.574          0.775          -0.188         0              90             0              40
   5  Spoon           -1.056         0.901          1.187          0              270            0              67
   6  Fork            0.817          0.761          0.002          0              270            0              40
   7  Pot             -2.097         0.930          1.049          0              0              0              48
   8  Cup             -1.556         0.698          -3.276         0              0              0              68
   9  Knife           0.841          0.688          0.387          0              0              0              46
  10  SoapBottle      -2.054         0.701          -1.199         0              0              0              77
  11  SoapBottle      -1.803         0.701          -1.524         0              0              0              77
  12  Bowl            0.746          0.464          -1.958         0              270            0              61
  13  PepperShaker    0.949          1.460          -0.207         0              0              0              52
  14  PepperShaker    0.877          0.879          0.098          0              0              0              41
  15  SaltShaker      0.842          0.012          -0.250         0              0              0              51
  16  SaltShaker      0.812          1.460          0.288          0              0              0              53
  17  Bread           0.149          0.944          0.929          0              270            0              67
  18  Mug             0.994          1.458          0.411          0              0              0              53
  19  Pot             -1.552         0.930          0.785          0              0              0              45
  20  Plate           -2.024         0.692          -1.447         0              0              0              77
  21  Fork            -1.719         0.702          -1.199         0              0              0              77
  22  SoapBottle      0.661          0.664          0.387          0              0              0              46
  23  Apple           -0.051         0.954          1.101          0              270            0              67
  24  Pan             0.740          -0.007         -0.596         0              0              0              44
  25  Egg             -1.370         0.088          -3.647         0              270            0              56
  26  Spatula         -1.620         0.711          -3.698         0              90             0              68
  27  Potato          0.824          1.191          -1.802         0              270            0              61
  28  Cup             0.708          1.373          -2.113         0              270            0              61
  29  SaltShaker      1.055          0.879          -0.460         0              0              0              41
  30  PepperShaker    0.621          0.012          0.076          0              0              0              51
  31  ButterKnife     0.754          0.755          -0.743         0              45             0              64
  32  DishSponge      0.671          0.760          -0.252         0              0              0              40
  33  Bread           -0.252         0.944          1.015          0              270            0              67
  34  Lettuce         0.757          0.859          -0.680         0              270            0              64
  35  Tomato          -1.886         0.750          -0.875         0              0              0              77
  36  Spoon           0.803          0.884          -0.245         0              0              0              41
  37  Knife           0.781          0.687          0.630          0              0              0              46
  38  Mug             0.661          0.660          0.569          0              0              0              46
  39  Bowl            -0.855         0.899          1.015          0              270            0              67
  40  Drawer          0.706          0.766          -0.125         0              0              0
  41  CounterTop      0.792          0.919          -0.108         0              0              0
  42  Mirror          1.093          1.602          -0.643         0              0              0
  43  StoveBurner     -2.096         0.890          0.785          0              0              0
  44  Cabinet         0.507          0.345          -0.426         0              0              0
  45  StoveBurner     -1.552         0.890          0.785          0              0              0
  46  SideTable       0.770          -0.030         0.443          0              0              0
  47  Sink            0.753          0.882          -0.680         0              0              0
  48  StoveBurner     -2.096         0.890          1.049          0              0              0
  49  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  50  StoveBurner     -1.554         0.890          1.049          0              0              0
  51  Cabinet         0.507          0.345          0.156          0              0              0
  52  Cabinet         0.717          1.822          -0.398         0              0              0
  53  Cabinet         0.717          1.822          0.669          0              0              0
  54  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  55  Toaster         -0.522         0.886          1.081          0              180            0
  56  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  57  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  59  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  61  Fridge          0.680          -0.031         -1.957         0              0              0
  62  Window          -2.424         1.639          -2.453         90             270            0
  63  Microwave       -1.994         0.690          -3.651         0              0              0
  64  SinkBasin       0.757          0.762          -0.688         0              270            0
  65  LightSwitch     1.102          1.368          -3.737         0              270            0
  66  Shelf           -0.350         0.124          0.857          0              0              0
  67  DiningTable     -0.350         -0.025         0.857          0              0              0
  68  DiningTable     -1.909         -0.032         -3.507         0              0              0
  69  Blinds          -2.343         2.151          -2.437         0              270            0
  70  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  71  AluminumFoil    0.751          0.225          0.287          0              0              0
  72  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  73  Shelf           0.771          0.226          0.445          0              0              0
  74  Shelf           0.771          0.456          0.446          0              0              0
  75  Faucet          1.025          0.873          -0.678         270            180            0
  76  Shelf           -0.350         0.497          0.857          0              0              0
  77  DiningTable     -1.929         -0.035         -1.398         0              90             0
  78  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

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