Task: Slice a tomato, put a slice into a plate and put 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           1.75           0.900          1.75           0              0              0
   1  Vase            -1.438         0.909          -2.329         0              0              0              88
   2  CreditCard      1.891          0.877          -2.509         0              180            0              90
   3  CreditCard      1.122          0.643          -2.417         0              0              0              68
   4  Plate           -2.078         0.795          0.920          0              90             0              96
   5  Plate           -2.122         1.499          1.008          0              90             0              96
   6  Plate           -2.038         0.537          0.920          0              90             0              96
   7  Cup             -1.797         0.767          -1.673         0              90             0              98
   8  Egg             -0.328         1.825          -2.482         0              0              0              89
   9  Egg             -1.953         0.833          1.251          0              90             0              96
  10  SoapBottle      -0.197         1.112          -0.506         0              0              0              63
  11  SaltShaker      1.098          0.907          -2.407         0              0              0              65
  12  SaltShaker      -1.693         0.907          -0.884         0              0              0              88
  13  Lettuce         -0.995         0.991          -2.560         0              0              0              88
  14  Lettuce         -0.059         1.191          -0.506         0              0              0              63
  15  Apple           -2.018         0.820          -1.587         0              90             0              98
  16  Apple           -2.038         0.591          1.168          0              90             0              96
  17  Knife           -1.586         0.936          -2.056         0              90             0              88
  18  Spoon           1.064          0.143          -2.431         0              0              0              83
  19  Spoon           -1.797         0.770          -1.760         0              0              0              98
  20  Mug             -1.731         0.956          -0.168         0              90             0              97
  21  Mug             -1.908         0.764          -1.587         0              270            0              98
  22  Pot             -2.070         1.310          1.176          0              90             0              96
  23  Pot             -0.465         0.950          -2.576         0              90             0              72
  24  Glassbottle     0.582          0.911          -2.253         0              0              0              65
  25  Glassbottle     -0.782         1.657          -2.676         0              0              0              77
  26  DishSponge      0.949          0.645          -2.333         0              0              0              68
  27  Bowl            -1.755         0.132          -1.506         0              90             0              64
  28  Book            0.155          1.1            0.617          0              315            0              63
  29  Glassbottle     -2.018         0.770          -1.760         0              90             0              98
  30  Knife           0.217          1.136          -0.759         0              0              0              63
  31  Bread           0.711          0.983          -2.484         0              0              0              65
  32  Fork            -1.586         0.911          -2.560         0              0              0              88
  33  Potato          -1.962         0.078          2.124          0              270            0              94
  34  SoapBottle      -1.856         0.912          -0.884         0              0              0              88
  35  Kettle          1.037          0.9            -2.596         0              0              0              65
  36  Pan             -0.036         0.950          -2.576         0              270            0              66
  37  Plate           0.451          1.656          -2.596         0              0              0              87
  38  Tomato          -2.037         0.837          1.085          0              90             0              96
  39  Vase            0.217          1.113          -0.253         0              0              0              63
  40  Egg             -2.114         1.339          1.343          0              90             0              96
  41  CreditCard      1.582          0.550          -2.718         0              180            0              93
  42  Statue          1.996          0.551          -2.459         0              180            0              93
  43  WineBottle      1.993          0.881          -2.536         0              180            0              90
  44  Pot             -1.908         0.774          -1.414         0              90             0              98
  45  Spatula         0.355          1.126          -0.001         0              0              0              63
  46  PaperTowelRoll  0.453          1.014          -2.253         0              0              0              65
  47  Cup             -1.143         0.909          -2.560         0              0              0              88
  48  Vase            -0.197         1.109          0.504          0              0              0              63
  49  Bowl            -1.296         0.133          -2.503         0              0              0              81
  50  SaltShaker      -1.574         0.907          -1.496         0              0              0              98
  51  PepperShaker    0.969          0.907          -2.407         0              0              0              65
  52  Lettuce         -1.290         0.991          -2.483         0              0              0              88
  53  ButterKnife     0.453          0.910          -2.637         0              0              0              65
  54  Apple           -1.907         0.098          1.981          0              270            0              94
  55  DishSponge      -1.782         0.793          0.155          0              90             0              60
  56  Spoon           0.355          1.112          -0.506         0              0              0              63
  57  Mug             -2.026         1.304          0.925          0              90             0              96
  58  StoveBurner     -0.036         0.915          -2.372         0              0              0
  59  Drawer          0.949          0.832          -2.197         0              0              0
  60  Drawer          -1.560         0.839          0.204          0              90             0
  61  StoveBurner     -0.465         0.915          -2.371         0              180            0
  62  Drawer          -1.560         0.839          -0.197         0              90             0
  63  CounterTop      -0.079         1.147          -0.001         0              0              0
  64  Cabinet         -1.549         0.494          -1.964         0              90             0
  65  CounterTop      0.693          0.946          -2.483         0              0              0
  66  StoveBurner     -0.036         0.915          -2.576         0              0              0
  67  Drawer          0.949          0.393          -2.200         0              0              0
  68  Drawer          0.949          0.708          -2.200         0              0              0
  69  Cabinet         -1.549         0.494          0.379          0              90             0
  70  StoveKnob       -0.022         0.881          -2.187         45             0              0
  71  Drawer          0.949          0.560          -2.201         0              0              0
  72  StoveBurner     -0.465         0.915          -2.575         0              180            0
  73  Window          -2.230         1.429          -1.203         0              0              0
  74  StoveKnob       -0.483         0.881          -2.187         45             0              0
  75  Sink            -1.899         0.964          -1.5           0              90             0
  76  StoveKnob       -0.328         0.881          -2.187         45             0              0
  77  Cabinet         -0.727         2.015          -2.460         0              0              0
  78  Drawer          -1.560         0.655          -0.196         0              90             0
  79  Cabinet         -1.685         2.015          -2.461         0              0              0
  80  Cabinet         0.680          0.494          -2.200         0              0              0
  81  Cabinet         -1.179         0.494          -2.200         0              0              0
  82  Cabinet         -1.849         2.015          0.379          0              90             0
  83  Drawer          0.949          0.221          -2.200         0              0              0
  84  StoveKnob       -0.183         0.881          -2.187         45             0              0
  85  Cabinet         0.719          2.015          -2.460         0              0              0
  86  Drawer          -1.560         0.331          -0.196         0              90             0
  87  Cabinet         0.680          2.015          -2.460         0              0              0
  88  CounterTop      -1.868         0.946          -1.205         0              0              0
  89  Microwave       -0.236         1.689          -2.525         0              0              0
  90  Shelf           1.751          0.880          -2.560         0              0              0
  91  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  92  Toaster         -1.835         0.900          0.134          0              90             0
  93  Shelf           1.750          0.552          -2.559         0              0              0
  94  GarbageCan      -1.935         -0.002         2.029          0              270            0
  95  Shelf           1.750          0.172          -2.559         0              0              0
  96  Fridge          -2.096         0.0            1.088          0              0              0
  97  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  98  SinkBasin       -1.908         0.759          -1.488         0              90             0
  99  LightSwitch     2.329          1.309          -0.159         0              270            0
 100  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 101  Stool           0.702          0.000          -0.514         1.202          65.108         0
 102  Stool           0.743          0.000          0.563          1.227          106.706        0
 103  Faucet          -2.070         1.132          -1.514         0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn left, go forward, turn right, go to the sink | STEP 2: Pick up the knife on the counter | STEP 3: Turn right, go forward | STEP 4: Turn left at the fridge | STEP 5: Open the fridge, slice the tomato in the fridge, put the knife in the plate | STEP 6: Pick up a tomato slice from the fridge, close the fridge | STEP 7: Turn left, go forward, turn left, go forward, turn right at the counter | STEP 8: Open the cupboard above the counter, put the slice of tomato into the plate in the cupboard | STEP 9: Pick up the plate from the cupboard | STEP 10: Turn right, go to the microwave  | STEP 11: Put the plate in the microwave | END