Task: Set a plate with a tomato 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          3.75           0              90             0
   1  Potato          -0.467         0.794          6.666          0              270            0              95
   2  DishSponge      -0.011         0.771          0.563          0              0              0              56
   3  ButterKnife     0.213          0.760          6.763          0              225            0              95
   4  Kettle          0.771          0.993          0.486          0              0              0              59
   5  Kettle          1.317          0.988          4.294          0              0              0              54
   6  Pot             1.562          0.988          3.848          0              0              0              53
   7  Spoon           -0.158         0.761          6.541          0              0              0              95
   8  Spoon           -0.159         0.761          6.169          0              0              0              95
   9  Egg             -0.618         0.810          6.284          0              225            0              95
  10  Cup             -0.467         0.756          6.479          0              270            0              95
  11  Cup             0.080          0.756          6.895          0              225            0              95
  12  Plate           0.055          0.144          0.582          0              0              0              68
  13  Tomato          1.225          1.042          0.668          0              0              0              59
  14  Tomato          -0.034         0.809          6.323          0              0              0              95
  15  Tomato          0.305          0.809          6.291          0              270            0              95
  16  SoapBottle      1.631          1.577          1.288          0              270            0              69
  17  Bowl            0.150          0.759          6.541          0              270            0              95
  18  PepperShaker    -0.221         0.755          6.941          0              0              0              95
  19  PepperShaker    1.671          0.987          3.417          0              0              0              59
  20  SaltShaker      0.999          0.987          0.670          0              0              0              59
  21  Lettuce         1.314          1.081          0.213          0              0              0              59
  22  Lettuce         1.582          1.081          0.213          0              0              0              59
  23  Apple           -0.687         1.067          0.212          0              0              0              59
  24  Bowl            1.406          0.139          2.159          0              0              0              48
  25  Bread           1.099          1.048          0.434          0              0              0              59
  26  Egg             0.123          0.810          6.107          0              135            0              95
  27  Knife           1.348          0.801          3.360          0              0              0              52
  28  Fork            -0.535         0.993          0.670          0              0              0              59
  29  Apple           2.137          1.590          5.501          0              270            0              81
  30  Kettle          1.140          1.580          0.295          0              0              0              66
  31  Plate           0.815          0.144          0.497          0              0              0              65
  32  SaltShaker      1.322          0.135          3.291          0              0              0              70
  33  Lettuce         -0.159         0.848          6.787          0              0              0              95
  34  SoapBottle      -0.486         0.760          6.151          0              225            0              95
  35  Spatula         0.058          0.775          6.261          0              135            0              95
  36  PaperTowelRoll  0.923          1.096          0.395          0              0              0              59
  37  Pot             1.559          0.988          4.294          0              0              0              57
  38  Potato          -0.034         0.794          6.014          0              0              0              95
  39  ButterKnife     1.225          0.992          0.895          0              0              0              59
  40  PepperShaker    -0.346         0.755          6.632          0              0              0              95
  41  Pan             1.313          0.985          4.284          0              0              0              54
  42  Tomato          -0.467         0.809          6.354          0              270            0              95
  43  DishSponge      -0.377         0.759          6.261          0              225            0              95
  44  Cup             2.094          1.511          5.251          0              270            0              81
  45  Spoon           0.192          0.773          0.451          0              0              0              56
  46  Mug             2.009          1.510          5.626          0              270            0              81
  47  Cabinet         1.307          2.455          4.360          0              0              0
  48  Cabinet         1.054          0.422          1.710          0              0              0
  49  Drawer          1.280          0.808          4.718          0              0              0
  50  Cabinet         1.307          2.455          3.607          0              0              0
  51  Drawer          0.736          0.802          0.521          0              0              0
  52  Drawer          1.276          0.802          3.291          0              0              0
  53  StoveBurner     1.562          0.982          3.848          0              0              0
  54  StoveBurner     1.317          0.982          4.294          0              0              0
  55  Drawer          -0.482         0.802          0.521          0              0              0
  56  Drawer          0.124          0.802          0.521          0              0              0
  57  StoveBurner     1.559          0.982          4.294          0              0              0
  58  StoveBurner     1.320          0.982          3.848          0              0              0
  59  CounterTop      1.391          1.028          0.897          0              0              0
  60  CounterTop      1.391          1.028          4.716          0              0              0
  61  Cabinet         1.054          0.422          4.548          0              0              0
  62  Cabinet         1.317          2.134          0.517          0              0              0
  63  Cabinet         1.317          2.134          4.889          0              0              0
  64  Cabinet         1.317          2.134          3.095          0              0              0
  65  Cabinet         0.443          0.422          0.743          0              0              0
  66  Cabinet         1.270          2.134          0.434          0              0              0
  67  Cabinet         -0.775         0.422          0.743          0              0              0
  68  Cabinet         -0.168         0.422          0.743          0              0              0
  69  Cabinet         1.317          2.134          1.534          0              0              0
  70  Cabinet         1.054          0.422          2.990          0              0              0
  71  Cabinet         1.054          0.422          2.944          0              0              0
  72  Cabinet         -0.263         2.134          0.434          0              0              0
  73  Cabinet         0.252          2.134          0.434          0              0              0
  74  Sink            1.391          1.006          2.326          0              0              0
  75  Microwave       0.108          0.981          0.262          0              0              0
  76  HousePlant      -0.165         0.826          6.444          0              0              0
  77  CoffeeMachine   1.551          0.982          0.953          0              270            0
  78  Toaster         1.473          0.981          4.715          0              270            0
  79  Window          -2.065         1.916          3.626          90             90             0
  80  Window          1.763          2.007          2.299          90             270            0
  81  Fridge          2.035          0.0            5.625          0              0              0
  82  SinkBasin       1.387          0.880          2.338          0              90             0
  83  GarbageCan      2.001          -0.044         6.503          0              0              0
  84  StoveKnob       1.140          0.934          3.987          45             270            0
  85  StoveKnob       1.140          0.934          4.309          45             270            0
  86  StoveKnob       1.140          0.934          4.140          45             270            0
  87  StoveKnob       1.140          0.934          3.824          45             270            0
  88  Vase            -0.226         0.834          6.993          0              0              0
  89  Vase            2.098          0.043          7.070          0              257.232        0
  90  Vase            -0.594         0.835          6.130          0              225            0
  91  LightSwitch     -2.0           1.549          6.045          0              90             0
  92  Safe            2.046          1.072          7.054          0              257.232        0
  93  Faucet          1.534          1.025          2.371          0              294.391        0
  94  Blinds          1.738          2.563          2.312          0              90             0
  95  DiningTable     -0.156         0.000          6.474          0              0              0
  96  Chair           0.291          0.002          6.142          0              310.162        0
  97  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn to the left and walk to the oven. Make a right and walk to the far counter.  | STEP 2: Open the bottom cupboard and pull out a plate. | STEP 3: Turn to the left and set the plate on the counter | STEP 4: Set the plate on the counter to the left of the coffee maker. | STEP 5: Pick up the tomato that is to the right of the coffee maker.  | STEP 6: Place the tomato on the plate that you just set on the counter.  | END