Task: Put a microwaved tomato 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            0.908          1.0            0              270            0
   1  Potato          -1.149         1.333          1.302          0              90             0              94
   2  Potato          -1.206         1.333          0.778          0              90             0              94
   3  CellPhone       -1.135         0.909          -0.392         0              0              0              80
   4  CellPhone       1.099          0.773          1.114          0              0              0              84
   5  DishSponge      1.127          0.775          0.368          0              0              0              88
   6  Glassbottle     1.414          0.086          1.409          0              0              0              95
   7  Glassbottle     1.523          0.912          -0.144         0              0              0              74
   8  WineBottle      1.117          0.887          2.369          0              0              0              106
   9  Spoon           1.284          0.887          2.584          0              0              0              106
  10  Spoon           1.128          0.912          -0.428         0              0              0              74
  11  Fork            1.200          0.886          2.261          0              0              0              106
  12  Pot             0.502          0.939          -0.740         0              90             0              81
  13  Cup             1.450          0.885          2.153          0              0              0              106
  14  Cup             -0.082         0.757          -0.691         0              0              0              101
  15  Plate           1.367          0.887          2.369          0              0              0              106
  16  Plate           1.286          0.912          -0.144         0              0              0              74
  17  Knife           1.286          0.933          0.139          0              0              0              74
  18  Knife           1.034          0.908          2.261          0              90             0              106
  19  Tomato          -1.162         0.391          0.988          0              90             0              94
  20  Tomato          -1.378         1.338          0.987          0              90             0              94
  21  Bowl            -1.012         0.747          2.644          0              0              0              55
  22  Bowl            -1.105         0.748          2.273          0              0              0              55
  23  Bread           -1.105         0.812          1.902          0              0              0              55
  24  Bread           -1.263         1.484          0.883          0              90             0              94
  25  Lettuce         -1.320         1.707          0.781          0              90             0              94
  26  Mug             1.358          1.655          0.253          0              0              0              56
  27  Mug             -1.325         2.148          0.706          0              0              0              72
  28  Apple           0.041          0.818          -0.651         0              0              0              101
  29  Bread           -1.263         1.700          1.086          0              90             0              94
  30  Glassbottle     1.245          0.086          1.409          0              0              0              95
  31  Fork            1.117          0.886          2.800          0              0              0              106
  32  Kettle          -1.357         0.739          3.024          0              240.000        0              55
  33  Tomato          1.365          0.961          0.422          0              0              0              74
  34  Plate           -1.206         0.752          1.092          0              90             0              94
  35  CellPhone       -0.658         0.909          -0.509         0              0              0              80
  36  Lettuce         0.951          0.957          2.369          0              0              0              106
  37  Pot             0.802          0.939          -0.740         0              90             0              83
  38  SoapBottle      -0.813         0.913          -0.669         0              0              0              80
  39  WineBottle      1.128          0.912          0.706          0              0              0              74
  40  Spatula         1.207          0.926          0.706          0              180            0              74
  41  Bowl            1.365          0.909          0.139          0              0              0              74
  42  Apple           -0.503         0.972          -0.907         0              0              0              80
  43  Cup             -0.919         0.748          2.087          0              0              0              55
  44  Knife           -1.197         0.770          2.644          0              0              0              55
  45  Egg             -1.197         0.783          2.830          0              0              0              55
  46  SaltShaker      1.523          0.907          0.706          0              0              0              74
  47  PepperShaker    1.200          0.882          2.369          0              0              0              106
  48  Potato          -0.082         0.803          -0.533         0              0              0              101
  49  ButterKnife     -1.383         0.748          1.902          0              0              0              55
  50  DishSponge      0.103          0.758          -0.533         0              0              0              101
  51  Pan             -1.332         0.9            -0.699         0              345.0          0              80
  52  Spoon           -0.206         0.759          -0.651         0              90             0              101
  53  SprayBottle     1.128          0.910          -0.144         0              0              0              74
  54  Mug             1.215          0.943          -0.633         0              320.314        0              93
  55  DiningTable     -1.182         0.006          2.414          0              90             0
  56  Cabinet         1.184          2.059          0.375          0              0              0
  57  Cabinet         1.184          2.059          -0.635         0              0              0
  58  Cabinet         0.591          2.309          -0.645         0              0              0
  59  Cabinet         -0.574         2.059          -0.644         0              0              0
  60  Cabinet         -1.103         2.059          -0.644         0              0              0
  61  Cabinet         -1.185         2.059          -0.331         0              0              0
  62  Cabinet         -1.185         2.059          -0.281         0              0              0
  63  Cabinet         -1.185         2.059          0.375          0              0              0
  64  Cabinet         1.184          2.309          1.174          0              0              0
  65  Cabinet         1.184          2.309          0.424          0              0              0
  66  Cabinet         0.988          0.402          0.581          0              0              0
  67  Cabinet         0.988          0.402          0.531          0              0              0
  68  Cabinet         0.988          0.402          -0.178         0              0              0
  69  Cabinet         0.335          0.402          -0.348         0              0              0
  70  Cabinet         -0.374         0.402          -0.348         0              0              0
  71  Cabinet         0.988          0.402          1.231          0              0              0
  72  Cabinet         -1.185         2.309          1.374          0              0              0
  73  Cabinet         -1.185         2.309          0.424          0              0              0
  74  CounterTop      1.274          0.947          0.064          0              0              0
  75  Drawer          1.116          0.792          -0.015         0              0              0
  76  Drawer          -1.116         0.792          0.210          0              180            0
  77  Cabinet         -0.990         0.402          0.374          0              180            0
  78  Drawer          -1.116         0.792          -0.170         0              180            0
  79  Cabinet         -0.990         0.402          -0.335         0              180            0
  80  CounterTop      -1.001         0.947          -0.669         0              0              0
  81  StoveBurner     0.502          0.932          -0.740         0              90             0
  82  StoveBurner     0.801          0.932          -0.473         0              0              0
  83  StoveBurner     0.801          0.932          -0.740         0              90             0
  84  Drawer          1.116          0.792          1.081          0              0              0
  85  Sink            -0.013         0.912          -0.615         0              0              0
  86  Drawer          1.116          0.792          0.732          0              0              0
  87  StoveBurner     0.502          0.932          -0.469         0              0              0
  88  Drawer          1.116          0.792          0.367          0              0              0
  89  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  90  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  91  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  92  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  93  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  94  Fridge          -1.300         0.008          0.987          0              90             0
  95  GarbageCan      1.296          -0.024         1.465          0              0              0
  96  Window          -0.012         1.641          -0.972         90             0              0
  97  Window          1.598          1.646          2.489          90             270            0
  98  Toaster         1.356          0.900          1.044          0              270            0
  99  LightSwitch     0.118          1.353          3.799          0              180            0
 100  Microwave       -1.343         0.900          0.053          0              90             0
 101  SinkBasin       -0.029         0.748          -0.612         0              0              0
 102  Faucet          -0.026         0.927          -0.808         0              0              0
 103  Shelf           -1.182         0.127          2.414          0              90             0
 104  Stool           1.140          0.007          3.262          1.206          20.753         0
 105  Shelf           -1.182         0.435          2.414          0              90             0
 106  DiningTable     1.169          0.014          2.569          0              0              1.896
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: Turn around and go to the counter with the wine and tomato | STEP 2: Pick up the tomato from the counter | STEP 3: Turn around and go to the microwave by the refrigerator | STEP 4: Open the door, put the tomato in the microwave and close the door and turn microwave on. Open the door and remove the tomato | STEP 5: Turn to the left and face the counter to the right of the sink | STEP 6: Place the tomato on the counter between the sink and the cell phone | END