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           -3.5           0.900          -2.25          0              270            0
   1  Statue          -1.167         0.936          -0.905         0              0              0              65
   2  Vase            1.102          1.667          -0.465         0              270            0              74
   3  Potato          1.093          1.814          -1.236         0              270            0              87
   4  CreditCard      1.199          0.908          -0.208         0              0              0              66
   5  CreditCard      -1.674         0.878          2.773          0              0              0              92
   6  CellPhone       -1.467         0.550          2.770          0              0              0              91
   7  CellPhone       1.199          0.908          -0.034         0              0              0              66
   8  DishSponge      0.960          0.107          -2.292         0              0              0              70
   9  DishSponge      0.875          0.493          -0.690         0              270            0              69
  10  ButterKnife     0.773          0.911          -1.879         0              0              0              71
  11  Glassbottle     0.960          0.109          -1.812         0              0              0              70
  12  Glassbottle     0.688          0.912          -0.381         0              0              0              66
  13  Spoon           0.773          0.912          -1.965         0              0              0              71
  14  Spatula         0.754          0.717          -0.524         0              180            0              63
  15  Spatula         -0.753         0.791          -0.918         0              180            0              86
  16  Pot             -1.229         0.936          0.144          0              0              0              65
  17  Knife           0.859          0.934          -0.729         0              0              0              66
  18  Egg             0.905          1.172          1.254          0              270            0              88
  19  Tomato          1.114          0.952          0.139          0              0              0              66
  20  Tomato          -1.054         0.219          0.576          0              180            0              85
  21  Bowl            0.844          1.646          0.967          0              270            0              88
  22  SaltShaker      0.811          0.104          -1.972         0              0              0              70
  23  SaltShaker      0.910          0.104          -1.972         0              0              0              70
  24  PepperShaker    0.713          0.490          -0.690         0              270            0              69
  25  Lettuce         0.773          0.988          0.139          0              0              0              66
  26  Lettuce         0.966          1.479          1.349          0              270            0              88
  27  Mug             -1.363         0.549          2.615          0              0              0              91
  28  Mug             0.903          0.942          -2.110         0              300.131        0              84
  29  Apple           1.087          1.693          1.158          0              270            0              88
  30  Apple           -0.865         0.227          0.543          0              180            0              85
  31  Statue          1.114          0.914          -0.381         0              0              0              66
  32  Glassbottle     -0.772         0.934          -1.618         0              0              0              65
  33  Bread           -0.779         0.996          0.209          0              258.641        0              65
  34  CreditCard      -1.985         0.551          2.667          0              0              0              91
  35  CellPhone       0.688          0.908          -0.034         0              0              0              66
  36  Potato          -0.808         0.807          -0.832         0              90             0              86
  37  Knife           -0.624         0.957          -1.154         0              0              0              65
  38  Fork            0.794          0.703          -0.690         0              180            0              63
  39  Pan             1.126          2.205          -1.299         0              180            0              72
  40  Lettuce         1.026          1.212          1.444          0              270            0              88
  41  Plate           -1.104         0.936          -1.167         0              0              0              65
  42  Apple           -1.041         0.983          -0.118         0              0              0              65
  43  Pot             1.077          0.950          -1.504         0              0              0              61
  44  Spatula         0.833          0.168          -0.571         0              270            0              68
  45  PaperTowelRoll  1.199          1.015          -1.965         0              0              0              71
  46  Tomato          0.944          0.952          -0.381         0              0              0              66
  47  Egg             -0.642         0.818          -0.832         0              90             0              86
  48  SaltShaker      0.754          0.698          -0.607         0              270            0              63
  49  PepperShaker    0.688          0.907          -1.793         0              0              0              71
  50  Vase            -1.367         0.881          2.692          0              0              0              92
  51  ButterKnife     1.029          0.911          -0.729         0              90             0              66
  52  SoapBottle      1.212          2.208          -0.973         0              270            0              72
  53  Vase            0.859          0.912          -0.208         0              0              0              66
  54  Bowl            1.212          2.211          -1.517         0              270            0              72
  55  DishSponge      -0.846         0.933          -0.143         0              0              0              65
  56  Spoon           -0.753         0.781          -0.659         0              90             0              86
  57  Cup             1.055          1.663          -0.038         0              270            0              73
  58  Mug             0.783          1.396          1.444          0              270            0              88
  59  StoveBurner     0.842          0.919          -1.098         0              0              0
  60  Cabinet         0.648          0.474          0.244          0              270            0
  61  StoveBurner     1.077          0.919          -1.504         0              0              0
  62  StoveBurner     0.842          0.919          -1.504         0              0              0
  63  Drawer          0.637          0.755          -0.649         0              270            0
  64  Cabinet         0.949          2.159          -2.375         0              270            0
  65  CounterTop      -1.238         0.968          -0.643         0              0              0
  66  CounterTop      0.931          0.946          -0.208         0              0              0
  67  StoveBurner     1.077          0.919          -1.098         0              0              0
  68  Drawer          0.637          0.268          -0.649         0              270            0
  69  Drawer          0.637          0.547          -0.649         0              270            0
  70  Cabinet         0.648          0.475          -1.714         0              0              0
  71  CounterTop      0.931          0.946          -2.051         0              0              0
  72  Cabinet         0.948          2.439          -1.780         0              270            0
  73  Cabinet         0.948          2.159          -0.140         0              270            0
  74  Cabinet         0.949          2.159          -0.758         0              270            0
  75  Sink            -0.699         0.927          -0.649         0              0              0
  76  LightSwitch     -2.371         1.218          3.049          0              180            0
  77  StoveKnob       0.673          0.899          -1.373         315            90             180
  78  StoveKnob       0.673          0.899          -1.519         315            90             180
  79  StoveKnob       0.673          0.899          -1.086         315            90             180
  80  StoveKnob       0.673          0.899          -1.237         315            90             180
  81  Toaster         0.984          0.900          0.329          0              270            0
  82  Window          0.014          0.998          -2.640         90             0              0
  83  Window          -2.996         0.998          -2.640         90             0              0
  84  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  85  GarbageCan      -0.946         -0.036         0.575          0              180            0
  86  SinkBasin       -0.698         0.765          -0.647         0              90             0
  87  Microwave       1.042          1.680          -1.295         0              270            0
  88  Fridge          0.966          0.0            1.253          0              0              0
  89  HousePlant      -1.354         0.919          -1.540         0              0              0
  90  Shelf           -1.635         0.172          2.715          0              180            0
  91  Shelf           -1.635         0.552          2.715          0              180            0
  92  Shelf           -1.635         0.880          2.715          0              180            0
  93  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  94  Chair           -1.832         0.002          -0.034         0              119.999        0
  95  Chair           -1.854         0.002          -0.956         0              67.887         0
  96  Faucet          -0.867         1.161          -0.651         0              0              0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn around and cross the room to face the counter on the left side of stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Look to the left to face the tomato on the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Turn around to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around to face the tomato on the counter. | STEP 8: Pick up a slice of tomato on the counter. | STEP 9: Take a step to the right to face the microwave. | STEP 10: Heat the tomato slice in the microwave and remove it. | STEP 11: Turn around and step forward to face the sink. | STEP 12: Place the tomato slice in the sink. | END