Task: Putting a tomato slice on the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          1.75           0              90             0
   1  Pan             -1.109         0.930          1.470          0              0              0              39
   2  DishSponge      1.729          0.937          1.887          0              0              0              42
   3  Fork            1.275          0.747          0.780          0              90             0              67
   4  Fork            -0.861         0.747          2.245          0              90             0              38
   5  Spoon           -0.960         0.939          0.843          0              0              0              62
   6  Spatula         -0.689         0.761          2.449          0              270            0              38
   7  Spatula         -0.758         0.761          0.779          0              90             0              60
   8  Egg             1.422          0.878          1.426          0              180            0              79
   9  Knife           1.362          0.959          0.806          0              90             0              42
  10  Knife           -0.896         0.768          2.245          0              90             0              38
  11  Tomato          -1.018         1.380          -0.110         0              90             0              69
  12  SoapBottle      -1.154         1.828          -0.220         0              0              0              50
  13  SoapBottle      1.346          0.100          0.272          0              0              0              47
  14  Mug             1.662          1.943          1.783          0              0              0              54
  15  Apple           -1.043         0.987          0.998          0              0              0              62
  16  Lettuce         1.460          1.014          1.678          4.936          59.364         356.547        64
  17  SoapBottle      -0.960         0.937          1.154          0              0              0              62
  18  Bread           -0.923         0.990          2.265          0              302.470        0              37
  19  Fork            -1.126         0.938          0.921          0              90             0              62
  20  Tomato          -1.209         0.999          0.843          0              0              0              62
  21  Bowl            -0.764         0.078          2.456          0              0              0              58
  22  Pot             -0.818         0.927          0.816          0              270            0              62
  23  Spatula         1.669          0.952          0.940          0              0              0              42
  24  Knife           -0.827         0.768          2.245          0              90             0              38
  25  SaltShaker      1.666          1.500          1.058          0              0              0              44
  26  Apple           -0.860         0.615          0.119          0              90             0              69
  27  PepperShaker    -0.792         0.743          1.050          0              180            0              60
  28  ButterKnife     -1.126         0.937          0.687          0              0              0              62
  29  Potato          1.490          0.876          1.341          0              180            0              79
  30  Plate           1.391          0.086          0.918          0              0              0              63
  31  DishSponge      -1.211         0.937          2.234          0              0              0              37
  32  Egg             1.550          0.979          1.840          0              180            0              64
  33  Cup             -0.988         0.813          0.272          0              90             0              69
  34  Pan             -0.924         1.498          0.119          0              90             0              69
  35  Spoon           -0.827         0.747          0.779          0              180            0              60
  36  Mug             -1.075         1.944          1.782          0              0              0              53
  37  CounterTop      -0.973         0.973          2.386          0              0              0
  38  Drawer          -0.783         0.774          2.381          0              180            0
  39  StoveBurner     -1.108         0.922          1.470          0              0              0
  40  Drawer          1.370          0.774          2.391          0              0              0
  41  Stool           -0.748         0.008          3.116          0              0              0
  42  CounterTop      1.504          0.973          2.309          0              0              0
  43  Cabinet         1.219          1.388          0.591          0              0              0
  44  Cabinet         1.500          2.113          1.164          0              0              0
  45  Cabinet         1.219          2.010          0.591          0              0              0
  46  Cabinet         1.219          0.388          2.105          0              0              0
  47  Cabinet         1.219          0.553          0.591          0              0              0
  48  Cabinet         -0.913         2.113          1.164          0              0              0
  49  Cabinet         -0.633         0.388          0.627          0              0              0
  50  Cabinet         -0.913         2.050          -0.329         0              0              0
  51  Cabinet         -0.913         2.113          0.583          0              0              0
  52  Cabinet         -0.913         2.113          2.082          0              0              0
  53  Cabinet         -0.913         2.113          1.207          0              0              0
  54  Cabinet         1.500          2.113          2.082          0              0              0
  55  Cabinet         1.500          2.113          1.207          0              0              0
  56  Cabinet         1.500          1.810          2.691          0              0              0
  57  Cabinet         1.500          1.810          2.101          0              0              0
  58  Cabinet         -0.633         0.388          2.105          0              0              0
  59  Cabinet         -0.911         1.810          2.700          0              180            0
  60  Drawer          -0.783         0.774          0.915          0              180            0
  61  StoveBurner     -1.108         0.922          1.865          0              0              0
  62  CounterTop      -0.972         0.973          0.921          0              0              0
  63  Cabinet         1.219          0.388          0.631          0              0              0
  64  Sink            1.544          0.869          1.639          0              180            0
  65  StoveBurner     -0.832         0.922          1.865          0              0              0
  66  StoveBurner     -0.831         0.922          1.470          0              0              0
  67  Drawer          1.370          0.774          0.916          0              0              0
  68  Cabinet         -0.911         1.810          2.111          0              180            0
  69  Fridge          -1.001         0.0            0.119          0              0              0
  70  StoveKnob       -0.648         0.926          1.923          0              270            0
  71  StoveKnob       -0.648         0.926          1.363          0              270            0
  72  StoveKnob       -0.648         0.926          1.513          0              270            0
  73  StoveKnob       -0.648         0.926          1.763          0              270            0
  74  Toaster         -1.002         0.926          2.561          0              90             0
  75  GarbageCan      1.451          -0.029         2.912          0              0              0
  76  Microwave       1.632          1.480          1.645          0              270            0
  77  Window          0.224          1.601          3.509          90             0              0
  78  CoffeeMachine   1.692          0.926          2.453          0              270            0
  79  SinkBasin       1.461          0.833          1.369          0              180            0
  80  LightSwitch     0.451          1.412          -1.674         0              0              0
  81  Faucet          1.707          0.925          1.363          0              270            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn around and stop at the counter to the right of the fridge | STEP 2: Grab the knife that's on the counter | STEP 3: Stand up straight in front of the counter | STEP 4: Cut the tomato on the counter into slices | STEP 5: Turn slightly to the right | STEP 6: Put the knife down in the bowl | STEP 7: Turn slightly to the right | STEP 8: Grab one of the tomato slices | STEP 9: Turn around and head to the microwave | STEP 10: Heat the tomato in the microwave. Take the tomato out of the microwave. | STEP 11: Turn left and stop at the coffee maker | STEP 12: Put the tomato on the counter in front of the coffee maker | END