Task: To cut plus heat a slice of tomato as well as put it on the kitchen table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.25          0.900          -0.25          0              0              0
   1  Pan             -0.308         1.690          -0.979         0              180            0              71
   2  Glassbottle     -0.508         0.916          -2.563         0              0              0              54
   3  Glassbottle     -0.383         0.082          -2.155         0              0              0              59
   4  Pencil          -0.537         0.747          -3.297         0              270            0              65
   5  Pen             -2.666         0.926          -1.884         0              0              0              79
   6  Potato          -0.343         1.422          -0.560         0              270            0              71
   7  Potato          -1.362         1.661          -3.903         0              0              0              67
   8  DishSponge      -0.600         0.915          -3.839         0              0              0              54
   9  ButterKnife     -2.552         0.923          -2.345         0              0              0              79
  10  ButterKnife     -2.438         0.923          -1.193         0              0              0              79
  11  WineBottle      -2.780         0.924          -1.423         0              0              0              79
  12  WineBottle      -0.211         1.528          -2.703         0              0              0              66
  13  Spatula         -2.210         0.938          -1.423         0              0              0              79
  14  Spoon           -2.552         0.924          -1.193         0              0              0              79
  15  Knife           -2.210         0.946          -2.345         0              0              0              79
  16  Plate           -0.743         0.918          -3.626         0              0              0              54
  17  Plate           -2.780         0.925          -2.345         0              0              0              79
  18  Bread           -0.295         1.151          -0.770         0              270            0              71
  19  SaltShaker      -0.230         1.966          -2.306         0              0              0              61
  20  SaltShaker      -0.205         1.966          -1.828         0              0              0              56
  21  Mug             -0.246         1.385          -0.770         0              270            0              71
  22  Apple           -2.210         0.996          -1.654         0              0              0              79
  23  Apple           -1.204         1.703          -3.870         0              0              0              67
  24  Apple           -1.975         0.100          -3.763         0              0              0              70
  25  Lettuce         -2.562         1.002          -1.677         36.385         0              0              79
  26  Glassbottle     -0.382         0.081          -3.205         0              0              0              60
  27  Egg             -0.350         0.831          -1.786         0              270            0              72
  28  Pen             -0.026         0.918          -2.001         0              90             0              54
  29  Fork            -2.096         0.924          -1.423         0              0              0              79
  30  SoapBottle      -0.391         1.529          -3.679         0              45             0              62
  31  Pencil          -0.222         0.916          -3.771         0              0              0              54
  32  WineBottle      -2.552         0.924          -2.115         0              0              0              79
  33  Spatula         -2.666         0.938          -0.963         0              180            0              79
  34  Bread           -0.415         0.952          -3.625         0              0              0              54
  35  Tomato          -0.398         0.861          -2.155         0              270            0              72
  36  Pan             -1.129         0.935          -3.752         0              90             0              64
  37  Cup             -0.343         1.389          -0.665         0              270            0              71
  38  Pot             -2.238         0.913          -1.882         0              0              0              79
  39  SaltShaker      -0.420         0.743          -3.327         0              0              0              65
  40  Potato          -2.666         0.954          -2.115         0              0              0              79
  41  PepperShaker    -1.496         1.965          -3.928         0              0              0              63
  42  ButterKnife     -2.552         0.923          -1.423         0              0              0              79
  43  DishSponge      -0.447         0.796          -2.008         0              270            0              72
  44  Spoon           -0.302         0.798          -1.934         0              270            0              72
  45  Plate           -0.460         0.083          -1.849         0              0              0              49
  46  Knife           -2.324         0.946          -1.654         0              0              0              79
  47  Mug             -0.809         0.077          -3.662         0              90             0              58
  48  Bowl            -2.754         0.913          -1.174         0              18.855         0              79
  49  Cabinet         -0.582         0.388          -1.804         0              0              0
  50  StoveBurner     -1.515         0.928          -3.752         0              90             0
  51  StoveBurner     -1.515         0.928          -3.497         0              0              0
  52  StoveBurner     -1.129         0.928          -3.498         0              0              0
  53  Drawer          -0.749         0.779          -3.551         0              0              0
  54  CounterTop      -0.303         0.951          -2.793         0              0              0
  55  Cabinet         -0.883         2.140          -3.687         0              0              0
  56  Cabinet         -0.312         2.140          -1.543         0              0              0
  57  Sink            -0.349         0.907          -2.014         0              0              0
  58  Cabinet         -0.877         0.388          -3.422         0              0              0
  59  Cabinet         -0.582         0.388          -2.197         0              0              0
  60  Cabinet         -0.584         0.388          -3.396         0              0              0
  61  Cabinet         -0.312         2.140          -2.481         0              0              0
  62  Cabinet         -0.330         1.921          -3.390         0              0              0
  63  Cabinet         -1.764         2.140          -3.687         0              0              0
  64  StoveBurner     -1.129         0.928          -3.752         0              90             0
  65  Drawer          -0.454         0.779          -3.268         0              0              0
  66  Cabinet         -0.302         1.916          -2.501         0              0              0
  67  Microwave       -1.317         1.517          -3.801         0              1.440          0
  68  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  69  LightSwitch     -4.323         1.319          0.0            0              180            0
  70  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  71  Fridge          -0.330         0.0            -0.769         0              270            0
  72  SinkBasin       -0.350         0.786          -2.018         0              270            0
  73  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  76  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  77  Toaster         -0.181         0.903          -2.764         0              270            0
  78  Window          -2.503         1.782          -4.185         90             180            0
  79  DiningTable     -2.432         0.000          -1.694         0              270            0
  80  Shelf           -2.432         0.150          -1.694         0              270            0
  81  Blinds          -2.536         2.699          -3.959         0              0              0
  82  Faucet          -0.079         0.904          -2.034         270            180            0
  83  Chair           -3.264         0.002          -2.094         0              53.280         0
  84  Chair           -3.240         0.002          -1.253         0              117.257        0
  85  Shelf           -2.432         0.523          -1.694         0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: TUrn right and walk across the room then turn right and cross the room and turn left to face the kitchen table. | STEP 2: Pick up the knife on the kitchen table. | STEP 3: Turn around and walk forward to face the sink. | STEP 4: Cut the tomato in the sink into slices. | STEP 5: Step back and look down to face the cabinet under the sink. | STEP 6: Place the knife in the left side cabinet under the sink. | STEP 7: Step forward to face the tomato in the sink. | STEP 8: Pick up a slice of the tomato in the sink. | STEP 9: Turn to the right and walk forward to face the microwave above the stove. | STEP 10: Heat the tomato slice in the microwave and then remove it. | STEP 11: Turn around and cross half the room and then turn left to face the kitchen table. | STEP 12: Place the tomato slice on the kitchen table. | END