Task: Cook the tomato with microwave, put 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           -1.5           0.901          2.25           0              180            0
   1  DishSponge      -2.995         0.900          2.309          0              0              0              75
   2  ButterKnife     -2.583         0.900          2.706          0              0              0              75
   3  ButterKnife     -2.706         0.935          3.209          0              0              0              61
   4  Spatula         -0.952         0.943          0.650          0              0              0              54
   5  Spoon           -2.377         0.663          0.519          0              0              0              62
   6  Spoon           -1.485         0.929          0.641          0              0              0              54
   7  Fork            -0.326         0.662          0.464          0              0              0              43
   8  Egg             -1.007         0.829          0.337          0              0              0              72
   9  Plate           -0.572         0.904          2.329          0              0              0              77
  10  Plate           -0.304         1.777          0.251          0              0              0              53
  11  Knife           -2.789         0.926          2.573          0              90             0              75
  12  SoapBottle      -2.628         0.935          3.209          0              90             0              61
  13  SoapBottle      -2.883         0.053          0.317          0              26.101         0              68
  14  Tomato          -2.892         0.964          2.441          0              0              0              75
  15  Tomato          -2.722         0.696          4.501          0              90             0              71
  16  Bowl            -2.831         0.295          4.352          0              90             0              71
  17  Bowl            -1.904         0.924          0.433          0              0              0              54
  18  SaltShaker      -2.323         0.658          0.409          0              0              0              62
  19  PepperShaker    -0.572         0.896          3.334          0              0              0              77
  20  Lettuce         -0.572         0.980          3.133          0              0              0              77
  21  Lettuce         -0.486         0.980          2.731          0              180            0              77
  22  Egg             -1.353         0.829          0.447          0              0              0              72
  23  Plate           -1.746         1.777          0.205          0              0              0              49
  24  Fork            -0.218         0.662          0.519          0              270            0              43
  25  Bread           -0.314         0.957          3.133          0              0              0              77
  26  Apple           -1.266         0.852          0.447          0              0              0              72
  27  Lettuce         -2.943         1.015          3.302          0              90             0              61
  28  Spatula         -2.995         0.915          2.573          0              90             0              75
  29  Knife           -0.486         0.926          3.535          0              0              0              77
  30  Potato          -0.657         0.926          2.932          0              0              0              77
  31  Tomato          -2.847         1.250          4.427          0              90             0              71
  32  Cup             -2.136         1.773          0.114          0              0              0              50
  33  SaltShaker      -2.485         0.658          0.300          0              0              0              62
  34  PepperShaker    -2.686         0.896          2.441          0              0              0              75
  35  ButterKnife     -2.303         0.928          0.602          0              0              0              54
  36  SoapBottle      -2.686         0.900          2.573          0              0              0              75
  37  Pan             -0.535         0.928          4.274          0              0              0              58
  38  DishSponge      -0.572         0.900          2.530          0              0              0              77
  39  Pot             -2.476         0.889          2.050          0              0              0              75
  40  Spoon           -1.180         0.797          0.337          0              0              0              72
  41  Mug             -2.437         0.923          0.518          0              0              0              54
  42  Bowl            -2.136         1.770          0.297          0              90             0              50
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn right to the white table | STEP 2: Grab the tomato on the table | STEP 3: Turn around, and turn right, walk to the microwave | STEP 4: Open the microwave, put the tomato on the plate, close the microwave, turn on the microwave, open the microwave, take the tomato out, close the microwave | STEP 5: Turn right, walk to the right side of the sink | STEP 6: Put the tomato down by the knife on the counter | END