Task: Place a chilled tomato in a microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          2.5            0              270            0
   1  Pan             -0.213         0.925          1.202          0              0              0              72
   2  Potato          -1.645         1.492          0.201          0              90             0              87
   3  CellPhone       0.107          0.923          0.273          0              0              0              72
   4  CellPhone       0.107          0.923          0.970          0              0              0              72
   5  Fork            -0.213         0.926          0.273          0              0              0              72
   6  Spoon           -0.648         0.672          -1.270         0              0              0              55
   7  Spatula         1.812          0.476          1.350          0              270            0              62
   8  Spatula         -0.261         0.775          -1.435         0              180            0              88
   9  Pot             1.962          1.663          -0.977         0              270            0              52
  10  Pot             1.975          0.938          0.601          0              180            0              59
  11  Egg             2.020          1.063          -0.651         0              270            0              85
  12  Tomato          1.986          0.966          1.182          0              0              0              64
  13  SaltShaker      1.986          0.907          1.032          0              0              0              64
  14  SaltShaker      1.812          0.541          1.350          0              0              0              62
  15  Bread           -1.697         1.549          -0.081         0              90             0              87
  16  Lettuce         -0.106         1.002          0.041          0              0              0              72
  17  Lettuce         0.170          0.837          -1.435         0              0              0              88
  18  Mug             -1.663         0.558          -0.269         0              90             0              87
  19  SoapBottle      -1.841         1.665          -1.131         0              90             0              51
  20  Cup             -0.320         0.923          0.506          0              0              0              72
  21  Pot             -1.551         0.915          -1.013         0              0              0              64
  22  Fork            -0.213         0.926          -0.190         0              0              0              72
  23  Ladle           1.764          0.624          0.667          0              0              0              68
  24  Kettle          -0.193         0.115          -1.284         0              0              0              43
  25  Egg             0.214          0.982          -0.190         0              0              0              72
  26  Plate           1.986          0.910          1.408          0              0              0              64
  27  Pan             -1.360         1.679          -1.614         0              270            0              66
  28  Lettuce         0.321          1.002          0.738          0              0              0              72
  29  Spatula         1.559          0.474          0.736          0              270            0              68
  30  Apple           -1.803         1.522          -0.269         0              90             0              87
  31  Knife           1.658          0.605          0.052          0              180            0              49
  32  SaltShaker      1.273          0.105          -1.416         0              0              0              57
  33  PepperShaker    -1.957         1.658          -1.358         0              90             0              51
  34  CellPhone       0.107          0.923          0.041          0              0              0              72
  35  ButterKnife     1.713          0.346          0.667          0              0              0              68
  36  Bread           -0.106         1.006          0.273          0              0              0              72
  37  Tomato          0.107          0.980          0.506          0              0              0              72
  38  Potato          -0.106         0.949          0.506          0              0              0              72
  39  DishSponge      0.194          0.112          -1.408         0              0              0              53
  40  Spoon           -1.902         0.912          -1.063         0              0              0              64
  41  Mug             -1.290         0.108          -1.360         0              0              0              76
  42  Bowl            0.305          0.111          -1.282         0              0              0              53
  43  Cabinet         -0.495         0.474          -1.149         0              0              0
  44  Window          -0.010         1.582          -1.821         0              0              0
  45  Drawer          0.805          0.475          -1.159         0              0              0
  46  StoveBurner     1.764          0.902          0.601          0              270            0
  47  Drawer          1.5            0.196          -0.019         0              0              0
  48  Drawer          1.5            0.629          -0.018         0              0              0
  49  Drawer          1.5            0.602          -0.019         0              270            0
  50  StoveBurner     1.975          0.902          0.384          0              270            0
  51  Cabinet         -1.703         2.022          -1.453         0              90             0
  52  Cabinet         1.789          2.019          -0.819         0              270            0
  53  Cabinet         0.494          0.474          -1.149         0              0              0
  54  Cabinet         0.409          0.475          0.444          0              0              0
  55  Drawer          -0.696         0.475          -1.159         0              0              0
  56  Drawer          1.5            0.140          0.599          0              270            0
  57  Cabinet         1.389          0.474          -1.149         0              0              0
  58  Drawer          1.5            0.305          0.600          0              0              0
  59  StoveBurner     1.975          0.902          0.601          0              270            0
  60  Drawer          1.5            0.429          -0.019         0              0              0
  61  StoveBurner     1.764          0.902          0.819          0              270            0
  62  Drawer          1.5            0.519          1.220          0              0              0
  63  Cabinet         1.705          2.019          -1.449         0              0              0
  64  CounterTop      0.002          0.947          -1.513         0              0              0
  65  Drawer          1.5            0.629          0.605          0              0              0
  66  Cabinet         -0.627         2.019          -1.449         0              0              0
  67  StoveBurner     1.764          0.902          0.384          0              270            0
  68  Drawer          1.5            0.538          0.600          0              0              0
  69  Sink            0.0            0.893          -1.434         0              0              0
  70  Drawer          1.5            0.782          1.220          0              270            0
  71  Window          2.217          1.565          -0.384         0              0              0
  72  CounterTop      -0.014         0.961          0.505          0              0              0
  73  Drawer          1.5            0.200          1.220          0              0              0
  74  StoveBurner     1.975          0.902          0.819          0              270            0
  75  Window          -3.240         1.616          2.693          0              270            0
  76  Cabinet         -1.389         0.474          -1.149         0              0              0
  77  LightSwitch     -0.153         1.291          3.700          0              180            0
  78  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  79  StoveKnob       1.602          0.917          0.570          0              270            180
  80  StoveKnob       1.602          0.917          0.625          0              270            180
  81  StoveKnob       1.602          0.917          0.739          0              270            180
  82  StoveKnob       1.602          0.917          0.680          0              270            180
  83  StoveKnob       1.602          0.917          0.462          0              270            180
  84  StoveKnob       1.602          0.917          0.517          0              270            180
  85  Microwave       1.932          0.899          -0.766         0              270            0
  86  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  87  Fridge          -1.764         0.0            0.014          0              90             0
  88  SinkBasin       -0.014         0.736          -1.435         0              0              0
  89  Toaster         1.977          0.900          -0.336         0              270            0
  90  Faucet          -0.020         1.137          -1.605         0              270            0
  91  Chair           -9.354         0.000          1.242          0              180            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn around and cross the room then head right then turn right at the oven to face the island counter top | STEP 2: Pick up the tomato that is sitting on the counter top | STEP 3: Turn left and walk to the cabinet, the take a right and head to the black fridge across the room | STEP 4: Open the fridge and place the tomato on the top shelf, then close the fridge.  Open the fridge and pick up the tomato on the top shelf then close the fridge | STEP 5: Head left, then take another left at the counter to head to the microwave | STEP 6: Open the microwave and place the tomato on the plate in front of then egg then close the microwave | END