Task: Put a heated tomato slice on the counter near the coffee maker.

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          0.900          1.5            0              0              0
   1  Potato          -0.960         0.970          0.998          0              0              0              60
   2  ButterKnife     1.503          0.944          1.798          0              180            0              62
   3  Fork            -1.127         0.928          2.234          0              0              0              35
   4  Fork            -0.689         0.747          2.313          0              270            0              36
   5  Spatula         -0.960         0.952          0.765          0              0              0              60
   6  Spatula         1.409          0.959          1.589          0              180            0              62
   7  Egg             -0.793         0.973          0.998          0              0              0              60
   8  Cup             -0.724         0.080          2.241          0              0              0              56
   9  Tomato          -0.860         0.627          0.272          0              90             0              67
  10  Bowl            1.430          0.078          2.392          0              0              0              44
  11  Bowl            -1.018         1.315          0.042          0              90             0              67
  12  SaltShaker      -0.792         0.742          0.847          0              180            0              58
  13  Mug             -1.121         1.496          2.494          0              90             0              57
  14  Lettuce         -1.126         1.028          1.076          0              0              0              60
  15  SoapBottle      -0.715         0.083          0.845          0              0              0              47
  16  Bread           -0.921         0.990          2.267          0              302.979        0              35
  17  Fork            -0.876         0.938          1.154          0              0              0              60
  18  Tomato          1.362          0.999          2.022          0              0              0              40
  19  Bowl            1.624          1.944          1.410          0              0              0              53
  20  Pot             -1.109         0.930          1.470          0              0              0              37
  21  Spatula         -0.723         0.761          1.050          0              270            0              58
  22  Knife           -0.861         0.768          0.779          0              90             0              58
  23  SaltShaker      1.448          0.743          0.848          0              0              0              65
  24  Apple           1.422          0.892          1.398          0              180            0              77
  25  PepperShaker    -0.876         0.934          0.843          0              0              0              60
  26  ButterKnife     -1.043         0.937          1.076          0              90             0              60
  27  Potato          1.550          0.977          1.673          0              180            0              62
  28  Plate           1.391          0.086          0.918          0              0              0              61
  29  DishSponge      -0.795         0.937          2.386          0              0              0              35
  30  Egg             1.489          0.105          2.945          0              0              0              73
  31  Cup             -0.964         0.813          0.042          0              90             0              67
  32  Pan             -1.109         0.930          1.865          0              0              0              59
  33  Spoon           1.448          0.747          0.984          0              90             0              65
  34  Mug             1.684          1.591          1.598          0              270            0              74
  35  CounterTop      -0.973         0.973          2.386          0              0              0
  36  Drawer          -0.783         0.774          2.381          0              180            0
  37  StoveBurner     -1.108         0.922          1.470          0              0              0
  38  Drawer          1.370          0.774          2.391          0              0              0
  39  Stool           -0.748         0.008          3.116          0              0              0
  40  CounterTop      1.504          0.973          2.309          0              0              0
  41  Cabinet         1.219          1.388          0.591          0              0              0
  42  Cabinet         1.500          2.113          1.164          0              0              0
  43  Cabinet         1.219          2.010          0.591          0              0              0
  44  Cabinet         1.219          0.388          2.105          0              0              0
  45  Cabinet         1.219          0.553          0.591          0              0              0
  46  Cabinet         -0.913         2.113          1.164          0              0              0
  47  Cabinet         -0.633         0.388          0.627          0              0              0
  48  Cabinet         -0.913         2.050          -0.329         0              0              0
  49  Cabinet         -0.913         2.113          0.583          0              0              0
  50  Cabinet         -0.913         2.113          2.082          0              0              0
  51  Cabinet         -0.913         2.113          1.207          0              0              0
  52  Cabinet         1.500          2.113          2.082          0              0              0
  53  Cabinet         1.500          2.113          1.207          0              0              0
  54  Cabinet         1.500          1.810          2.691          0              0              0
  55  Cabinet         1.500          1.810          2.101          0              0              0
  56  Cabinet         -0.633         0.388          2.105          0              0              0
  57  Cabinet         -0.911         1.810          2.700          0              180            0
  58  Drawer          -0.783         0.774          0.915          0              180            0
  59  StoveBurner     -1.108         0.922          1.865          0              0              0
  60  CounterTop      -0.972         0.973          0.921          0              0              0
  61  Cabinet         1.219          0.388          0.631          0              0              0
  62  Sink            1.544          0.869          1.639          0              180            0
  63  StoveBurner     -0.832         0.922          1.865          0              0              0
  64  StoveBurner     -0.831         0.922          1.470          0              0              0
  65  Drawer          1.370          0.774          0.916          0              0              0
  66  Cabinet         -0.911         1.810          2.111          0              180            0
  67  Fridge          -1.001         0.0            0.119          0              0              0
  68  StoveKnob       -0.648         0.926          1.923          0              270            0
  69  StoveKnob       -0.648         0.926          1.363          0              270            0
  70  StoveKnob       -0.648         0.926          1.513          0              270            0
  71  StoveKnob       -0.648         0.926          1.763          0              270            0
  72  Toaster         -1.002         0.926          2.561          0              90             0
  73  GarbageCan      1.451          -0.029         2.912          0              0              0
  74  Microwave       1.632          1.480          1.645          0              270            0
  75  Window          0.224          1.601          3.509          90             0              0
  76  CoffeeMachine   1.692          0.926          2.453          0              270            0
  77  SinkBasin       1.461          0.833          1.369          0              180            0
  78  LightSwitch     0.451          1.412          -1.674         0              0              0
  79  Faucet          1.707          0.925          1.363          0              270            0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn right and walk to the sink. | STEP 2: Pick up the knife to the left of the potato. | STEP 3: Move slightly to the left to stand in front of the tomato on the counter. | STEP 4: Cut half the tomato into slices. | STEP 5: Move slightly to the right to stand in front of the sink. | STEP 6: Toss the knife into the sink, putting it on the left hand side of the apple. | STEP 7: Move slightly to the left to stand in front of the tomato on the counter. | STEP 8: Pick up one slice of tomato. | STEP 9: Move slightly to the right to stand in front of the sink. | STEP 10: Above the sink, open the microwave door.  Put the tomato slice in front of the mug, close the door, and microwave the slice for a few seconds.  Take out the tomato slice and close the door. | STEP 11: Move slightly to the left to stand in front of the tomato and coffee maker on the counter. | STEP 12: Place the tomato slice on the counter in front of the coffee maker. | END