Task: to pick up a tomato and place 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           -1.0           0.900          -0.25          0              180            0
   1  Pan             1.691          0.929          0.064          0              0              0              52
   2  Pan             -2.289         0.910          0.031          0              90             0              69
   3  ButterKnife     -0.471         0.910          1.317          0              0              0              41
   4  Spoon           1.846          0.912          -0.865         0              0              0              51
   5  Cup             -0.471         0.908          1.540          0              0              0              41
   6  Cup             1.494          0.908          -0.841         0              45             0              51
   7  Plate           -0.601         0.913          1.094          0              0              0              41
   8  Plate           -0.601         0.913          0.423          0              0              0              41
   9  Bowl            -2.560         1.535          0.629          0              0              0              65
  10  Bowl            -2.484         1.580          -1.631         0              180            0              68
  11  PepperShaker    -2.647         1.928          -1.150         0              0              0              62
  12  SaltShaker      0.229          1.658          -1.693         0              90             0              48
  13  SaltShaker      1.513          0.905          -0.642         0              0              0              51
  14  Bread           -0.081         0.996          1.764          0              0              0              41
  15  Mug             -2.384         0.109          1.319          0              90             0              47
  16  Apple           -2.570         1.077          2.278          0              90             0              81
  17  Apple           -2.485         1.150          -0.885         0              90             0              73
  18  Pan             -0.081         0.910          1.540          0              0              0              41
  19  Knife           0.683          0.936          -1.539         0              0              0              51
  20  Apple           -2.420         0.656          -0.962         0              90             0              73
  21  Bowl            -2.538         0.908          0.631          0              0              0              69
  22  Fork            1.418          0.919          -1.034         0              225            0              55
  23  Bread           -2.289         0.996          0.931          0              0              0              69
  24  Plate           -2.455         0.913          1.530          0              0              0              69
  25  Egg             0.798          0.941          -1.650         0              45             0              51
  26  Kettle          -0.081         0.911          1.094          0              0              0              41
  27  Potato          -2.372         0.947          1.230          0              0              0              69
  28  SaltShaker      -2.638         1.533          0.485          0              0              0              65
  29  Lettuce         -2.538         0.994          0.331          0              0              0              69
  30  Cup             -2.448         1.581          -1.777         0              180            0              68
  31  SoapBottle      -2.704         0.912          0.631          0              0              0              69
  32  Spatula         -2.289         0.925          0.631          0              0              0              69
  33  PaperTowelRoll  1.598          1.015          0.465          0              90             0              50
  34  ButterKnife     1.426          0.911          0.494          0              180            0              50
  35  PepperShaker    0.588          1.658          -1.729         0              90             0              48
  36  DishSponge      -2.318         0.773          -0.121         0              0              0              59
  37  Pot             1.691          0.929          -0.335         0              0              0              49
  38  Spoon           1.345          0.919          -1.177         0              225            0              55
  39  Tomato          -2.538         0.953          1.230          0              0              0              69
  40  Mug             -0.471         0.905          0.647          0              0              0              41
  41  CounterTop      -0.360         0.946          1.093          0              0              0
  42  StoveBurner     1.412          0.923          -0.335         0              0              0
  43  StoveKnob       1.878          1.093          0.018          287.989        90             0
  44  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  45  Cabinet         -2.446         1.948          2.924          0              0              0
  46  Drawer          -2.276         0.792          0.902          0              0              0
  47  Cabinet         -2.145         0.402          1.578          0              0              0
  48  Cabinet         0.149          2.008          -1.603         0              90             0
  49  StoveBurner     1.691          0.923          -0.335         0              0              0
  50  CounterTop      1.585          0.946          0.405          0              0              0
  51  CounterTop      0.474          0.946          -1.625         0              0              0
  52  StoveBurner     1.691          0.923          0.064          0              0              0
  53  Cabinet         -2.446         1.948          1.687          0              0              0
  54  Cabinet         -2.446         1.948          1.640          0              0              0
  55  Sink            1.381          0.810          -1.271         0              225            0
  56  StoveKnob       1.878          1.093          0.150          287.989        90             0
  57  Cabinet         -2.145         0.402          -0.236         0              0              0
  58  Drawer          -2.276         0.792          0.437          0              0              0
  59  Drawer          -2.276         0.792          -0.027         0              0              0
  60  Cabinet         1.572          2.008          0.474          0              0              0
  61  Cabinet         1.572          2.008          -0.775         0              0              0
  62  Cabinet         -2.445         2.148          -1.275         0              0              0
  63  Cabinet         -2.446         2.148          -0.284         0              0              0
  64  Cabinet         -2.446         1.948          0.355          0              0              0
  65  Cabinet         -2.446         1.948          0.405          0              0              0
  66  Cabinet         -2.145         0.402          0.644          0              0              0
  67  Cabinet         -2.145         0.402          0.695          0              0              0
  68  Cabinet         -2.285         1.968          -1.325         0              180            0
  69  CounterTop      -1.485         0.946          1.319          0              0              0
  70  StoveBurner     1.411          0.923          0.064          0              0              0
  71  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  72  Drawer          -2.276         0.792          1.368          0              0              0
  73  Fridge          -2.475         0.0            -0.782         0              90             0
  74  LightSwitch     -0.929         1.350          -1.950         0              0              0
  75  Toaster         -2.564         0.900          1.876          0              90             0
  76  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  77  Window          1.508          1.534          -1.496         90             135            0
  78  Window          1.973          1.521          1.121          90             90             0
  79  SinkBasin       1.149          0.753          -1.380         0              225            0
  80  GarbageCan      1.646          -0.000         0.679          0              0              0
  81  Microwave       -2.580         0.900          2.440          0              90             0
  82  Stool           0.439          0.010          0.747          0              0              0
  83  Stool           -2.303         0.010          1.839          0              0              0
  84  Faucet          1.235          1.138          -1.473         0              225            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: turn right and turn right again move forward turn left to face counter | STEP 2: pick up tomato from the counter | STEP 3: turn left move forward turn right to face the fridge | STEP 4: open the fridge place tomato on top shelf close the fridge open the fridge pick up tomato  | STEP 5: close fridge door make right move forward to face wall turn left to face microwave | STEP 6: open microwave door and place tomato inside to the right of the apple close the microwave door | END