Task: Heat up a slice of tomato and place on table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.869          -2.75          0              0              0
   1  Potato          0.841          0.805          -0.845         0              270            0              68
   2  Potato          -1.334         0.085          -3.647         0              270            0              60
   3  DishSponge      -1.635         0.701          -1.199         0              0              0              81
   4  ButterKnife     -0.252         0.900          0.843          0              270            0              71
   5  ButterKnife     0.950          0.883          -0.176         0              0              0              45
   6  Spatula         0.769          0.774          -0.188         0              0              0              44
   7  Spatula         -1.620         0.715          -3.698         0              90             0              72
   8  Fork            0.841          0.665          0.569          0              0              0              50
   9  Pot             -2.097         0.930          0.785          0              0              0              47
  10  Egg             0.803          0.920          -0.176         0              0              0              45
  11  Plate           -0.051         0.904          1.015          0              270            0              71
  12  Tomato          0.661          0.712          0.508          0              0              0              50
  13  Tomato          0.785          0.514          -1.802         0              270            0              65
  14  Tomato          0.841          0.820          -0.570         0              270            0              68
  15  SoapBottle      0.781          0.664          0.387          0              0              0              50
  16  SoapBottle      0.901          0.663          0.508          0              0              0              50
  17  Bowl            0.949          1.462          0.349          0              0              0              57
  18  SaltShaker      -0.252         0.896          1.187          0              270            0              71
  19  SaltShaker      0.803          0.879          -0.314         0              0              0              45
  20  Lettuce         0.708          1.245          -1.802         0              270            0              65
  21  Mug             0.781          0.660          0.265          0              0              0              50
  22  Apple           -0.855         0.954          0.758          0              270            0              71
  23  Pot             -1.719         0.700          -0.983         0              0              0              81
  24  Plate           -2.023         0.692          -1.447         0              0              0              81
  25  Fork            0.961          0.665          0.326          0              90             0              50
  26  SoapBottle      -2.137         0.701          -1.199         0              0              0              81
  27  Apple           0.803          0.937          0.029          0              0              0              45
  28  Pan             -1.552         0.930          0.785          0              0              0              49
  29  Egg             -1.297         0.088          -3.574         0              270            0              60
  30  Spatula         0.574          0.775          -0.124         0              90             0              44
  31  Potato          0.708          1.407          -2.190         0              270            0              65
  32  Cup             -0.855         0.899          1.187          0              270            0              71
  33  SaltShaker      0.721          0.660          0.630          0              0              0              50
  34  PepperShaker    0.877          0.879          -0.108         0              0              0              45
  35  ButterKnife     0.601          0.665          0.508          0              90             0              50
  36  DishSponge      0.621          0.015          0.011          0              0              0              55
  37  Bread           -0.873         0.931          0.978          0              24.231         0              71
  38  Lettuce         0.715          0.859          -0.735         0              270            0              68
  39  Tomato          -1.803         0.750          -1.524         0              0              0              81
  40  Spoon           0.149          0.901          1.187          0              270            0              71
  41  Knife           1.070          0.906          -0.838         0              90             0              45
  42  Mug             0.698          0.941          -1.360         0              270            0              58
  43  Bowl            -1.056         0.899          1.187          0              270            0              71
  44  Drawer          0.706          0.766          -0.125         0              0              0
  45  CounterTop      0.792          0.919          -0.108         0              0              0
  46  Mirror          1.093          1.602          -0.643         0              0              0
  47  StoveBurner     -2.096         0.890          0.785          0              0              0
  48  Cabinet         0.507          0.345          -0.426         0              0              0
  49  StoveBurner     -1.552         0.890          0.785          0              0              0
  50  SideTable       0.770          -0.030         0.443          0              0              0
  51  Sink            0.753          0.882          -0.680         0              0              0
  52  StoveBurner     -2.096         0.890          1.049          0              0              0
  53  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  54  StoveBurner     -1.554         0.890          1.049          0              0              0
  55  Cabinet         0.507          0.345          0.156          0              0              0
  56  Cabinet         0.717          1.822          -0.398         0              0              0
  57  Cabinet         0.717          1.822          0.669          0              0              0
  58  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  59  Toaster         -0.522         0.886          1.081          0              180            0
  60  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  61  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  62  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  63  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  64  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  65  Fridge          0.680          -0.031         -1.957         0              0              0
  66  Window          -2.424         1.639          -2.453         90             270            0
  67  Microwave       -1.994         0.690          -3.651         0              0              0
  68  SinkBasin       0.757          0.762          -0.688         0              270            0
  69  LightSwitch     1.102          1.368          -3.737         0              270            0
  70  Shelf           -0.350         0.124          0.857          0              0              0
  71  DiningTable     -0.350         -0.025         0.857          0              0              0
  72  DiningTable     -1.909         -0.032         -3.507         0              0              0
  73  Blinds          -2.343         2.151          -2.437         0              270            0
  74  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  75  AluminumFoil    0.751          0.225          0.287          0              0              0
  76  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  77  Shelf           0.771          0.226          0.445          0              0              0
  78  Shelf           0.771          0.456          0.446          0              0              0
  79  Faucet          1.025          0.873          -0.678         270            180            0
  80  Shelf           -0.350         0.497          0.857          0              0              0
  81  DiningTable     -1.929         -0.035         -1.398         0              90             0
  82  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn left, turn right, turn left and go to the edge of the counter next to the sink. | STEP 2: Pick up the butter knife on the counter above the egg. | STEP 3: Turn right, step forward, turn left to face the sink. | STEP 4: Slice the tomato in the sink. | STEP 5: Place the knife in the sink below the tomato. | STEP 6: Pick up a slice of tomato. | STEP 7: Turn around and walk towards the hall, turn left and walk to microwave. | STEP 8: Open the microwave door, place the tomato inside, close the door. Turn on microwave for a few seconds, open door, remove tomato, and close the door. | STEP 9: Return to the kitchen counter where there will be a table to the left. | STEP 10: Lean the tomato slice upwards on the dispenser next to the cup. | END