Task: Putting a plate with a tomato slice on it in the microwave

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              0              0
   1  Pan             0.079          1.111          -0.759         0              270            0              64
   2  Potato          -1.908         0.800          -1.414         0              90             0              99
   3  CreditCard      1.584          0.877          -2.590         0              180            0              91
   4  Plate           0.324          0.907          -2.330         0              0              0              66
   5  Plate           -1.008         0.133          -2.453         0              0              0              82
   6  Plate           -0.848         0.908          -2.483         0              0              0              89
   7  Cup             -1.742         0.767          -1.328         0              90             0              99
   8  Egg             -2.204         0.833          1.251          0              90             0              97
   9  Tomato          -2.040         1.542          1.092          0              90             0              97
  10  SaltShaker      1.119          1.657          -2.564         0              0              0              86
  11  PepperShaker    1.064          0.138          -2.286         0              0              0              84
  12  PepperShaker    0.969          0.907          -2.407         0              0              0              66
  13  Bread           -0.335         1.184          -0.253         0              0              0              64
  14  Lettuce         -0.473         1.191          0.504          0              0              0              64
  15  Lettuce         -2.070         1.385          1.176          0              90             0              97
  16  Apple           -2.163         0.591          1.168          0              90             0              97
  17  Apple           -2.037         0.849          1.003          0              90             0              97
  18  Knife           0.217          1.136          -0.253         0              0              0              64
  19  Fork            -0.059         1.112          -0.506         0              0              0              64
  20  Fork            -1.852         0.770          -1.414         0              90             0              99
  21  Spoon           0.892          0.143          -2.382         0              0              0              84
  22  Spatula         -2.018         0.784          -1.673         0              180            0              99
  23  ButterKnife     -1.774         0.911          -2.146         0              0              0              89
  24  Glassbottle     1.891          0.881          -2.590         0              180            0              91
  25  WineBottle      -1.907         0.048          1.981          0              270            0              95
  26  DishSponge      -1.740         0.154          -0.197         0              90             0              87
  27  DishSponge      0.840          0.910          -2.714         0              0              0              66
  28  Bowl            -0.197         1.108          -0.759         0              0              0              64
  29  Book            0.155          1.1            0.617          0              315            0              64
  30  Glassbottle     -1.907         0.048          2.124          0              270            0              95
  31  Knife           0.453          0.936          -2.560         0              0              0              66
  32  Bread           -0.197         1.184          0.251          0              0              0              64
  33  Fork            1.098          0.911          -2.330         0              0              0              66
  34  Potato          -0.197         1.142          0.757          0              0              0              64
  35  SoapBottle      1.007          1.661          -2.527         0              0              0              86
  36  Kettle          -1.346         1.659          -2.641         0              0              0              80
  37  Pan             -0.036         0.950          -2.576         0              270            0              67
  38  Plate           -1.755         0.133          -1.623         0              90             0              65
  39  Tomato          -1.963         0.808          -1.760         0              90             0              99
  40  Vase            0.711          0.912          -2.407         0              0              0              66
  41  Egg             -2.204         1.538          0.925          0              90             0              97
  42  CreditCard      1.584          0.877          -2.509         0              180            0              91
  43  Statue          1.955          0.168          -2.543         0              0              0              96
  44  WineBottle      0.560          1.660          -2.632         0              0              0              88
  45  Pot             -1.693         0.915          -0.513         0              0              0              89
  46  Spatula         -1.963         0.784          -1.501         0              180            0              99
  47  PaperTowelRoll  0.711          1.014          -2.560         0              0              0              66
  48  Cup             0.341          1.657          -2.667         0              0              0              88
  49  Vase            -1.855         0.133          -1.389         0              90             0              65
  50  Bowl            1.478          0.549          -2.666         0              180            0              94
  51  SaltShaker      0.620          0.136          -2.485         0              0              0              81
  52  PepperShaker    -1.765         0.126          0.203          0              90             0              70
  53  Lettuce         0.217          1.191          -0.001         0              0              0              64
  54  ButterKnife     -0.848         0.911          -2.637         0              0              0              89
  55  Apple           -2.018         0.820          -1.328         0              90             0              99
  56  DishSponge      0.355          1.111          -0.506         0              0              0              64
  57  Spoon           -1.696         0.154          -0.293         0              90             0              87
  58  Mug             -1.731         0.956          -0.168         0              90             0              98
  59  StoveBurner     -0.036         0.915          -2.372         0              0              0
  60  Drawer          0.949          0.832          -2.197         0              0              0
  61  Drawer          -1.560         0.839          0.204          0              90             0
  62  StoveBurner     -0.465         0.915          -2.371         0              180            0
  63  Drawer          -1.560         0.839          -0.197         0              90             0
  64  CounterTop      -0.079         1.147          -0.001         0              0              0
  65  Cabinet         -1.549         0.494          -1.964         0              90             0
  66  CounterTop      0.693          0.946          -2.483         0              0              0
  67  StoveBurner     -0.036         0.915          -2.576         0              0              0
  68  Drawer          0.949          0.393          -2.200         0              0              0
  69  Drawer          0.949          0.708          -2.200         0              0              0
  70  Cabinet         -1.549         0.494          0.379          0              90             0
  71  StoveKnob       -0.022         0.881          -2.187         45             0              0
  72  Drawer          0.949          0.560          -2.201         0              0              0
  73  StoveBurner     -0.465         0.915          -2.575         0              180            0
  74  Window          -2.230         1.429          -1.203         0              0              0
  75  StoveKnob       -0.483         0.881          -2.187         45             0              0
  76  Sink            -1.899         0.964          -1.5           0              90             0
  77  StoveKnob       -0.328         0.881          -2.187         45             0              0
  78  Cabinet         -0.727         2.015          -2.460         0              0              0
  79  Drawer          -1.560         0.655          -0.196         0              90             0
  80  Cabinet         -1.685         2.015          -2.461         0              0              0
  81  Cabinet         0.680          0.494          -2.200         0              0              0
  82  Cabinet         -1.179         0.494          -2.200         0              0              0
  83  Cabinet         -1.849         2.015          0.379          0              90             0
  84  Drawer          0.949          0.221          -2.200         0              0              0
  85  StoveKnob       -0.183         0.881          -2.187         45             0              0
  86  Cabinet         0.719          2.015          -2.460         0              0              0
  87  Drawer          -1.560         0.331          -0.196         0              90             0
  88  Cabinet         0.680          2.015          -2.460         0              0              0
  89  CounterTop      -1.868         0.946          -1.205         0              0              0
  90  Microwave       -0.236         1.689          -2.525         0              0              0
  91  Shelf           1.751          0.880          -2.560         0              0              0
  92  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  93  Toaster         -1.835         0.900          0.134          0              90             0
  94  Shelf           1.750          0.552          -2.559         0              0              0
  95  GarbageCan      -1.935         -0.002         2.029          0              270            0
  96  Shelf           1.750          0.172          -2.559         0              0              0
  97  Fridge          -2.096         0.0            1.088          0              0              0
  98  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  99  SinkBasin       -1.908         0.759          -1.488         0              90             0
 100  LightSwitch     2.329          1.309          -0.159         0              270            0
 101  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 102  Stool           0.702          0.000          -0.514         1.202          65.108         0
 103  Stool           0.743          0.000          0.563          1.227          106.706        0
 104  Faucet          -2.070         1.132          -1.514         0              0              0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn around and go to the counter to the right of the oven | STEP 2: Grab the knife off of the counter | STEP 3: Turn right and go to the sink | STEP 4: Cut the tomato in the sink into slices | STEP 5: Put the knife down on the counter to the left of the sink | STEP 6: Grab one of the tomato slices out of the sink | STEP 7: Turn around and face the counter to the right of the sink | STEP 8: Put the tomato on the plate on the counter | STEP 9: Grab the plate off of the counter | STEP 10: Turn left and head to the microwave | STEP 11: Put the plate in the microwave | END