Task: heat the tomato with microwave, put it back 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           0.0            1.124          0.75           0              0              0
   1  Pan             -0.749         1.332          -2.973         0              0              0              56
   2  Pan             -2.049         1.322          0.770          0              0              0              53
   3  DishSponge      0.747          0.344          -2.061         0              180            0              52
   4  Kettle          0.900          0.346          -1.854         0              180            0              52
   5  Fork            0.939          0.953          0.983          0              90             0              76
   6  Spoon           0.813          0.954          1.054          0              270            0              76
   7  Spatula         -2.179         1.337          -2.721         0              90             0              53
   8  Spatula         1.155          1.337          -0.942         0              0              0              53
   9  Cup             -1.954         1.048          -0.542         0              0              0              71
  10  Plate           -1.660         1.323          1.094          0              0              0              53
  11  Knife           -2.004         1.366          -1.186         0              90             0              60
  12  Knife           -1.790         1.352          1.744          0              0              0              53
  13  SoapBottle      -1.826         1.333          -1.255         0              0              0              60
  14  SoapBottle      -1.530         1.323          2.069          0              0              0              53
  15  Tomato          -1.634         0.314          2.275          0              270            0              68
  16  Tomato          1.193          1.241          1.238          0              0              0              78
  17  Bowl            0.900          0.343          -2.061         0              180            0              52
  18  SaltShaker      -1.665         0.338          -2.362         0              0              0              49
  19  PepperShaker    1.025          1.318          -2.424         0              0              0              53
  20  PepperShaker    1.053          0.339          -1.854         0              180            0              52
  21  Lettuce         -2.049         1.399          2.069          0              0              0              53
  22  Mug             -1.698         1.046          -0.633         0              90             0              71
  23  Mug             -1.727         0.338          -1.863         0              90             0              49
  24  Apple           -1.380         1.371          -2.760         0              0              0              53
  25  Bread           -1.513         1.380          0.662          0              0              0              53
  26  Pot             -1.920         1.329          -1.681         0              0              0              53
  27  Knife           -1.418         1.352          -1.503         0              90             0              53
  28  Bowl            -1.681         0.342          0.512          0              0              0              51
  29  Potato          -2.179         1.362          1.419          0              0              0              53
  30  SoapBottle      -1.522         1.323          -2.870         0              0              0              53
  31  Fork            -1.603         0.420          -1.217         0              0              0              59
  32  Cup             0.944          1.205          1.238          0              0              0              78
  33  Kettle          -0.125         1.332          -2.973         0              0              0              61
  34  Egg             1.276          1.248          1.254          0              0              0              78
  35  Pan             -1.237         1.322          -3.203         0              0              0              53
  36  SaltShaker      -1.540         0.338          -1.763         0              270            0              49
  37  WineBottle      0.671          0.345          -2.371         0              180            0              52
  38  Lettuce         -1.891         1.400          -1.073         1.070          0              355.705        60
  39  Spatula         -1.825         1.333          -0.980         0              180            0              60
  40  PaperTowelRoll  0.778          1.312          1.254          0              0              0              78
  41  Tomato          -1.634         0.314          2.110          0              270            0              68
  42  Plate           -1.467         1.311          0.244          0              0              0              53
  43  PepperShaker    -1.851         0.338          -1.863         0              0              0              49
  44  DishSponge      0.420          1.322          -2.678         0              0              0              53
  45  Spoon           -1.603         0.423          -0.364         0              0              0              57
  46  Apple           1.213          1.359          0.810          0              270            0              78
  47  Mug             0.928          2.023          2.052          0              270            0              66
  48  StoveBurner     -0.239         1.325          -3.301         0              180            0
  49  Cabinet         -1.461         0.775          -2.002         0              0              0
  50  StoveBurner     -0.630         1.325          -3.301         0              180            0
  51  Cabinet         -1.461         0.775          0.470          0              0              0
  52  Cabinet         0.578          0.776          -2.054         0              0              0
  53  CounterTop      -1.809         1.358          1.182          0              0              0
  54  Cabinet         -1.461         0.775          1.310          0              0              0
  55  Faucet          -2.063         1.362          -0.726         0              39.391         0
  56  StoveBurner     -0.749         1.325          -2.973         0              0              0
  57  Drawer          -1.610         0.681          -0.430         0              0              0
  58  Window          -2.566         1.799          -0.822         270            0              0
  59  Drawer          -1.610         0.681          -1.217         0              0              0
  60  Sink            -1.990         1.143          -0.975         0              0              0
  61  StoveBurner     -0.125         1.325          -2.973         0              0              0
  62  StoveKnob       -0.185         1.338          -2.741         0              270            180
  63  StoveKnob       -0.336         1.338          -2.741         0              270            180
  64  StoveKnob       -0.569         1.338          -2.741         0              270            180
  65  StoveKnob       -0.707         1.338          -2.741         0              270            180
  66  Fridge          1.013          0.227          1.917          0              270            0
  67  Microwave       0.994          1.310          -2.163         0              270            0
  68  GarbageCan      -1.633         0.212          2.192          0              270            0
  69  LightSwitch     1.386          1.565          -0.657         0              270            0
  70  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  71  SinkBasin       -1.835         1.039          -0.542         0              0              0
  72  ButterKnife     0.873          0.468          0.651          0              0              0
  73  Toaster         -1.885         1.310          -2.512         0              90             0
  74  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  75  Drawer          0.647          1.061          0.680          0              270            0
  76  Drawer          0.648          1.061          1.020          0              270            0
  77  Drawer          0.648          0.843          1.020          0              270            0
  78  SideTable       0.975          0.220          0.869          0              270            0
  79  Drawer          0.648          0.602          0.680          0              270            0
  80  Drawer          0.648          0.596          1.020          0              270            0
  81  Drawer          0.648          0.843          0.680          0              270            0
  82  Stool           0.606          0.222          -1.084         1.233          280.489        0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: turn right to the counter by the refrigerator | STEP 2: grab the tomato on the counter | STEP 3: walk to the right a little | STEP 4: open the microwave, put the tomato in the microwave, heat the tomato, take the tomato out | STEP 5: walk to the left a little  | STEP 6: put the tomato back on the counter | END