Task: Take tomato from counter to microwave, place on kitchen island

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          -0.5           0              0              0
   1  Potato          -1.749         0.863          0.013          0              90             0              95
   2  Potato          -1.783         0.863          0.201          0              90             0              95
   3  Ladle           1.900          0.955          1.333          0              180            0              72
   4  Kettle          -0.320         0.926          0.041          0              0              0              80
   5  ButterKnife     -1.551         0.911          -1.013         0              0              0              72
   6  ButterKnife     -0.213         0.925          0.506          0              0              0              80
   7  Fork            0.256          0.761          -1.380         0              270            0              96
   8  Spoon           1.662          0.462          1.088          0              0              0              70
   9  Pot             1.975          0.938          0.819          0              180            0              82
  10  Pot             1.975          0.938          0.384          0              180            0              58
  11  Egg             -0.175         0.817          -1.546         0              0              0              96
  12  Egg             -1.773         0.098          1.371          0              270            0              86
  13  Cup             1.553          0.909          1.333          0              0              0              72
  14  Plate           0.000          0.924          0.041          0              0              0              80
  15  Knife           -0.106         0.947          0.970          0              0              0              80
  16  Knife           -0.106         0.947          0.738          0              0              0              80
  17  SoapBottle      0.361          0.116          -1.408         0              0              0              61
  18  Tomato          2.030          0.966          -1.415         0              0              0              72
  19  Bowl            -0.002         0.758          -1.490         0              0              0              96
  20  PepperShaker    2.073          0.907          1.258          0              0              0              72
  21  Bread           0.000          1.006          0.738          0              0              0              80
  22  Lettuce         0.214          1.002          0.273          0              0              0              80
  23  Lettuce         -0.213         1.002          -0.190         0              0              0              80
  24  Mug             -1.697         1.464          0.013          0              180            0              95
  25  Apple           -1.639         0.964          -1.063         0              0              0              72
  26  Apple           -1.803         1.522          0.107          0              90             0              95
  27  SoapBottle      -0.320         0.929          0.273          0              0              0              80
  28  Cup             -1.244         0.111          -1.233         0              0              0              84
  29  Pot             -0.249         0.118          -1.347         0              0              0              51
  30  Fork            1.714          0.762          1.001          0              0              0              78
  31  Ladle           1.726          0.955          1.408          0              0              0              72
  32  Kettle          -1.874         0.912          -1.610         0              0              0              72
  33  Egg             -1.663         0.620          -0.175         0              90             0              95
  34  Plate           -0.106         0.924          1.202          0              0              0              80
  35  Pan             -1.286         0.9            -1.348         0              79.769         0              72
  36  Lettuce         -1.668         0.988          -1.513         0              0              0              72
  37  Spatula         1.813          0.926          1.333          0              0              0              72
  38  Apple           0.170          0.813          -1.435         0              0              0              96
  39  Knife           1.769          0.142          0.381          0              0              0              64
  40  SaltShaker      0.107          0.921          0.273          0              0              0              80
  41  PepperShaker    1.195          0.105          -1.226         0              0              0              65
  42  CellPhone       -0.751         0.669          -1.332         0              0              0              63
  43  ButterKnife     0.214          0.925          0.041          0              0              0              80
  44  Bread           0.321          1.006          0.506          0              0              0              80
  45  Tomato          -1.721         0.618          0.013          0              90             0              95
  46  Potato          0.327          0.944          1.311          0              345.000        0              80
  47  DishSponge      0.000          0.925          0.273          0              0              0              80
  48  Spoon           1.661          0.227          0.736          0              0              0              66
  49  Mug             1.355          0.955          -1.362         0              0              0              94
  50  Bowl            1.924          1.657          -1.053         0              270            0              60
  51  Cabinet         -0.495         0.474          -1.149         0              0              0
  52  Window          -0.010         1.582          -1.821         0              0              0
  53  Drawer          0.805          0.475          -1.159         0              0              0
  54  StoveBurner     1.764          0.902          0.601          0              270            0
  55  Drawer          1.5            0.196          -0.019         0              0              0
  56  Drawer          1.5            0.629          -0.018         0              0              0
  57  Drawer          1.5            0.602          -0.019         0              270            0
  58  StoveBurner     1.975          0.902          0.384          0              270            0
  59  Cabinet         -1.703         2.022          -1.453         0              90             0
  60  Cabinet         1.789          2.019          -0.819         0              270            0
  61  Cabinet         0.494          0.474          -1.149         0              0              0
  62  Cabinet         0.409          0.475          0.444          0              0              0
  63  Drawer          -0.696         0.475          -1.159         0              0              0
  64  Drawer          1.5            0.140          0.599          0              270            0
  65  Cabinet         1.389          0.474          -1.149         0              0              0
  66  Drawer          1.5            0.305          0.600          0              0              0
  67  StoveBurner     1.975          0.902          0.601          0              270            0
  68  Drawer          1.5            0.429          -0.019         0              0              0
  69  StoveBurner     1.764          0.902          0.819          0              270            0
  70  Drawer          1.5            0.519          1.220          0              0              0
  71  Cabinet         1.705          2.019          -1.449         0              0              0
  72  CounterTop      0.002          0.947          -1.513         0              0              0
  73  Drawer          1.5            0.629          0.605          0              0              0
  74  Cabinet         -0.627         2.019          -1.449         0              0              0
  75  StoveBurner     1.764          0.902          0.384          0              270            0
  76  Drawer          1.5            0.538          0.600          0              0              0
  77  Sink            0.0            0.893          -1.434         0              0              0
  78  Drawer          1.5            0.782          1.220          0              270            0
  79  Window          2.217          1.565          -0.384         0              0              0
  80  CounterTop      -0.014         0.961          0.505          0              0              0
  81  Drawer          1.5            0.200          1.220          0              0              0
  82  StoveBurner     1.975          0.902          0.819          0              270            0
  83  Window          -3.240         1.616          2.693          0              270            0
  84  Cabinet         -1.389         0.474          -1.149         0              0              0
  85  LightSwitch     -0.153         1.291          3.700          0              180            0
  86  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  87  StoveKnob       1.602          0.917          0.570          0              270            180
  88  StoveKnob       1.602          0.917          0.625          0              270            180
  89  StoveKnob       1.602          0.917          0.739          0              270            180
  90  StoveKnob       1.602          0.917          0.680          0              270            180
  91  StoveKnob       1.602          0.917          0.462          0              270            180
  92  StoveKnob       1.602          0.917          0.517          0              270            180
  93  Microwave       1.932          0.899          -0.766         0              270            0
  94  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  95  Fridge          -1.764         0.0            0.014          0              90             0
  96  SinkBasin       -0.014         0.736          -1.435         0              0              0
  97  Toaster         1.977          0.900          -0.336         0              270            0
  98  Faucet          -0.020         1.137          -1.605         0              270            0
  99  Chair           -9.354         0.000          1.242          0              180            0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn around, walk forward to counter, turn left, walk forward to counter | STEP 2: Grab tomato off of counter, | STEP 3: Open microwave on counter | STEP 4: Put tomato inside microwave, close microwave, turn on, open and remove tomato, close microwave | STEP 5: Turn left, walk forward, turn left near end of kitchen island | STEP 6: Put tomato on top of kitchen island | END