Task: Pick up tomato and place in microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          0.25           0              90             0
   1  SprayBottle     -1.732         0.909          -1.620         0              0              0              70
   2  Pen             0.852          0.913          -1.448         0              0              0              72
   3  Potato          -2.079         0.952          0.463          0              0              0              74
   4  Potato          1.302          0.256          1.051          0              0              0              89
   5  Ladle           -2.201         0.954          0.032          0              0              0              74
   6  Kettle          -1.431         0.949          -1.525         0              0              0              80
   7  ButterKnife     -2.201         0.910          0.291          0              0              0              74
   8  Glassbottle     0.171          0.115          -1.488         0              90             0              69
   9  Glassbottle     1.176          0.912          0.031          0              0              0              72
  10  Spatula         0.949          0.788          -1.178         0              90             0              50
  11  Spatula         1.035          0.788          0.323          0              90             0              49
  12  Cup             1.476          1.367          1.975          0              270            0              91
  13  Cup             -1.952         1.656          -1.926         0              90             0              53
  14  Plate           1.461          1.656          -1.500         0              0              0              64
  15  Knife           -1.886         0.940          -1.448         0              180            0              70
  16  Tomato          1.176          0.951          -0.65          0              0              0              72
  17  PepperShaker    1.494          1.157          -1.688         0              0              0              78
  18  SaltShaker      -0.530         1.650          -1.876         0              0              0              54
  19  Lettuce         -1.835         0.979          0.291          0              0              0              74
  20  Mug             0.771          0.112          -1.680         0              90             0              66
  21  Mug             1.376          1.362          2.351          0              270            0              91
  22  Apple           1.343          0.945          0.031          0              0              0              72
  23  Tomato          1.426          1.407          1.850          0              270            0              91
  24  Glassbottle     1.335          1.162          -1.345         0              0              0              78
  25  Knife           0.251          0.949          -1.657         0              270            0              51
  26  Plate           0.645          1.656          -1.839         0              0              0              61
  27  Fork            -1.809         0.911          -1.793         0              90             0              70
  28  Ladle           -0.401         0.955          -1.534         0              90             0              72
  29  Potato          1.420          0.256          1.051          0              0              0              89
  30  Lettuce         -2.323         0.979          0.291          0              0              0              74
  31  Kettle          0.770          0.9            -1.836         0              0              0              72
  32  Pen             -1.765         0.775          -1.500         0              90             0              77
  33  SaltShaker      -0.996         1.845          -1.802         0              0              0              52
  34  Cup             -2.107         0.112          -1.487         0              0              0              75
  35  Egg             1.505          1.294          0.188          0              270            0              94
  36  Spatula         -1.957         0.925          0.377          0              0              0              74
  37  Bowl            -0.685         0.112          -1.632         0              0              0              59
  38  SprayBottle     -2.193         0.909          -1.965         0              0              0              70
  39  Pan             -1.079         0.945          -1.528         0              0              0              73
  40  SoapBottle      -0.627         0.911          -1.789         0              0              0              72
  41  Pot             -1.081         0.949          -1.81          0              0              0              68
  42  ButterKnife     1.260          0.911          -0.309         0              0              0              72
  43  PepperShaker    -0.748         1.650          -1.839         0              0              0              54
  44  DishSponge      1.090          0.114          -0.699         0              0              0              56
  45  Bread           1.454          1.240          -1.002         0              0              0              78
  46  Apple           -1.886         0.945          -1.879         0              0              0              70
  47  Spoon           1.101          0.776          0.377          0              90             0              49
  48  Mug             1.283          1.651          -1.106         0              0              0              60
  49  Drawer          0.860          0.75           0.430          0              0              0
  50  Drawer          0.871          0.75           -1.134         0              0              0
  51  Sink            0.156          0.817          -1.801         0              270            0
  52  Cabinet         -0.868         2.005          -1.690         0              0              0
  53  Cabinet         -1.661         2.059          -1.684         0              90             0
  54  Cabinet         -0.817         2.059          -1.689         0              0              0
  55  Cabinet         0.860          0.402          0.665          0              0              0
  56  Cabinet         0.860          0.402          -0.552         0              0              0
  57  Cabinet         0.860          0.402          -1.365         0              0              0
  58  Cabinet         -0.244         0.402          -1.389         0              0              0
  59  Cabinet         -0.815         0.402          -1.389         0              0              0
  60  Cabinet         1.159          2.059          -0.334         0              0              0
  61  Cabinet         0.488          2.059          -1.689         0              0              0
  62  Cabinet         -0.193         2.059          -1.689         0              0              0
  63  Drawer          0.860          0.75           -0.699         0              0              0
  64  Cabinet         1.159          2.059          -1.019         0              0              0
  65  Cabinet         -1.611         2.005          -1.690         0              0              0
  66  Cabinet         0.832          0.401          -1.393         0              90             0
  67  Drawer          -2.105         0.75           -1.389         0              0              0
  68  StoveBurner     -1.081         0.941          -1.809         0              0              0
  69  Cabinet         -0.202         0.401          -1.391         0              90             0
  70  CounterTop      -1.973         0.945          -1.707         0              0              0
  71  Drawer          -0.375         0.75           -1.389         0              0              0
  72  CounterTop      1.164          0.946          -0.649         0              0              0
  73  StoveBurner     -1.081         0.941          -1.527         0              0              0
  74  CounterTop      -2.096         0.945          0.291          0              0              0
  75  Cabinet         -2.237         0.402          -1.389         0              0              0
  76  Drawer          0.584          0.75           -1.389         0              0              0
  77  Drawer          -1.795         0.75           -1.389         0              0              0
  78  CounterTop      1.5            1.197          -0.654         0              0              0
  79  Cabinet         -1.667         0.402          -1.389         0              0              0
  80  StoveBurner     -1.430         0.941          -1.525         0              0              0
  81  Drawer          -0.685         0.75           -1.389         0              0              0
  82  StoveBurner     -1.430         0.941          -1.809         0              0              0
  83  LightSwitch     -2.539         1.289          2.568          0              90             0
  84  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  85  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  86  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  87  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  88  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  89  GarbageCan      1.343          0.015          1.041          0              0              0
  90  HousePlant      1.440          1.153          0.593          0              0              0
  91  Fridge          1.417          0.0            2.101          0              0              0
  92  Window          -0.486         1.452          3.302          90             0              0
  93  SinkBasin       -0.063         0.765          -1.713         0              270            0
  94  Microwave       1.422          1.150          0.022          0              270            0
  95  Toaster         -2.066         0.900          -1.848         0              0              0
  96  Stool           -1.994         0.010          0.882          0              0              0
  97  Faucet          -0.096         1.041          -1.867         0              270            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn right, go towards sink.  Turn left to face counter top with tomato on it. | STEP 2: Pick up tomato from counter. | STEP 3: Turn left, carry tomato to counter with microwave on it on the right. | STEP 4: Open microwave, put tomato on plate to the right of egg, on the right side of the plate.  Close the microwave. | END