Task: Microwave a tomato, place it 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           0.75           0.931          -0.25          0              180            0
   1  Potato          -0.260         1.100          -1.720         0              0              0              47
   2  Potato          -1.423         1.766          2.063          0              90             0              62
   3  DishSponge      1.512          1.019          -1.630         0              0              0              53
   4  DishSponge      1.854          0.122          2.386          0              270            0              63
   5  ButterKnife     -0.177         1.046          -1.118         0              0              0              47
   6  Kettle          0.000          1.057          -1.4           0              0              0              46
   7  Pot             -1.261         2.029          -1.555         0              270            0              54
   8  Fork            0.657          1.047          -1.129         0              0              0              47
   9  Fork            -0.517         1.047          -1.397         0              0              0              47
  10  Spoon           -0.689         1.048          -1.181         0              0              0              47
  11  Egg             -1.250         2.002          2.242          0              90             0              62
  12  Tomato          -1.366         1.279          2.153          0              90             0              62
  13  Bowl            -1.300         1.227          1.885          0              90             0              62
  14  Bowl            -1.095         0.962          2.242          0              90             0              62
  15  SaltShaker      -0.398         1.560          -1.693         0              0              0              52
  16  SaltShaker      -0.030         1.038          0.630          0              0              0              49
  17  PepperShaker    -1.416         2.023          -1.264         0              0              0              54
  18  Mug             -1.126         0.959          1.885          0              90             0              62
  19  Mug             -1.261         2.023          -1.337         0              0              0              54
  20  Apple           -1.145         1.759          -1.300         0              0              0              61
  21  SoapBottle      -0.312         0.204          -1.625         0              0              0              56
  22  Apple           0.980          1.097          0.080          0              90             0              45
  23  Potato          -1.264         1.542          2.153          0              90             0              62
  24  Fork            1.072          1.047          -1.181         0              0              0              47
  25  Kettle          0.960          1.566          -1.463         0              0              0              51
  26  Pan             0.965          1.035          -1.66          0              290.450        0              47
  27  Tomato          0.848          1.105          0.331          0              90             0              45
  28  SaltShaker      1.347          1.038          0.763          0              0              0              49
  29  Egg             1.015          1.097          0.763          0              0              0              49
  30  Cup             -1.312         1.713          1.885          0              90             0              62
  31  Spatula         -0.296         1.053          -1.277         0              255.000        0              47
  32  Knife           0.805          1.079          0.281          0              270            0              45
  33  Lettuce         1.181          1.103          0.720          0              0              0              49
  34  ButterKnife     -0.689         1.046          -1.289         0              0              0              47
  35  PepperShaker    -0.949         0.197          -1.482         0              0              0              55
  36  DishSponge      0.801          0.199          -1.484         0              0              0              58
  37  Plate           1.820          1.032          -1.264         0              0              0              53
  38  Bread           0.406          1.104          0.353          0              337.138        0              49
  39  Spoon           0.071          1.031          0.229          0              0              0              49
  40  Pot             0.389          1.053          -1.630         0              0              0              43
  41  Mug             -1.047         1.711          -1.300         0              90             0              61
  42  Bowl            1.589          1.018          -1.337         0              0              0              53
  43  StoveBurner     0.389          1.043          -1.630         0              0              0
  44  SinkBasin       1.211          0.882          0.236          0              90             0
  45  Sink            0.928          0.941          0.324          0              90             0
  46  StoveBurner     0.000          1.048          -1.399         0              0              0
  47  CounterTop      0.196          1.082          -1.504         0              0              0
  48  StoveBurner     0.5            1.048          -1.399         0              0              0
  49  CounterTop      0.968          1.078          0.415          0              0              0
  50  StoveBurner     0.120          1.043          -1.630         0              0              0
  51  Cabinet         1.322          1.955          -1.309         0              0              0
  52  Cabinet         -0.866         1.955          -1.309         0              0              0
  53  Cabinet         1.993          1.403          -1.110         0              0              0
  54  Cabinet         -1.547         2.001          -1.110         0              0              0
  55  Cabinet         -1.526         0.593          -1.110         0              0              0
  56  Cabinet         -0.852         0.589          -1.110         0              0              0
  57  Cabinet         1.990          0.593          -1.110         0              0              0
  58  Cabinet         1.336          0.589          -1.110         0              0              0
  59  StoveBurner     0.250          1.048          -1.399         0              0              0
  60  Toaster         -0.550         1.035          -1.776         0              0              0
  61  Microwave       -1.189         1.624          -1.284         0              0              0
  62  Fridge          -1.286         0.020          1.832          0              90             0
  63  GarbageCan      1.856          -0.019         2.386          0              270            0
  64  LightSwitch     1.016          1.360          2.619          0              180            0
  65  CoffeeMachine   1.929          1.031          0.440          0              270            0
  66  StoveKnob       0.0            1.046          -1.220         0              0              0
  67  StoveKnob       0.090          1.046          -1.220         0              0              0
  68  StoveKnob       0.246          1.046          -1.220         0              0              0
  69  StoveKnob       0.490          1.046          -1.220         0              0              0
  70  StoveKnob       0.389          1.046          -1.220         0              0              0
  71  Faucet          1.277          1.265          0.384          0              90             0
  72  Chair           0.343          0.031          0.976          0              166.747        0
  73  Chair           1.008          0.031          1.034          0              180            0
  74  Chair           1.575          0.031          1.050          0              210.000        0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: Turn around and face the sink. | STEP 2: Pick up the tomato on the counter. | STEP 3: Turn left, then walk to the wall and turn left again to face the oven. | STEP 4: Place the tomato in the microwave, turn it on, then take it out when it's done. | STEP 5: Turn left and face the counter on the right. | STEP 6: Place the tomato on the counter. | END