Task: Pick up a tomato, cook it in a microwave oven, set it on the counter to the right of the sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.901          -0.25          0              90             0
   1  Pan             1.863          0.935          1.106          0              0              0              72
   2  WineBottle      -0.358         0.038          -0.801         0              90             0              80
   3  Ladle           1.925          0.126          1.915          0              90             0              54
   4  DishSponge      1.170          0.794          2.529          0              0              0              82
   5  ButterKnife     0.060          0.937          2.548          0              0              0              58
   6  ButterKnife     -0.349         0.791          0.545          0              0              0              85
   7  Pot             2.140          0.935          1.504          0              180            0              53
   8  Spatula         1.976          0.760          0.446          0              90             0              67
   9  Spatula         -0.119         0.805          0.377          0              0              0              85
  10  Egg             -0.261         1.078          1.907          0              90             0              83
  11  Egg             2.150          0.980          2.260          0              0              0              58
  12  Cup             1.830          1.501          2.730          0              0              0              59
  13  Cup             0.033          0.789          1.217          0              0              0              85
  14  Knife           0.037          0.771          2.197          0              270            0              57
  15  Knife           2.301          0.963          0.435          0              90             0              69
  16  SoapBottle      -0.041         0.082          1.993          0              0              0              52
  17  SoapBottle      1.840          0.939          0.731          0              180            0              69
  18  Tomato          -0.042         0.837          1.386          0              0              0              85
  19  Bowl            2.079          0.599          -0.550         0              270            0              79
  20  PepperShaker    2.241          1.498          0.358          0              0              0              56
  21  PepperShaker    -0.349         0.785          0.881          0              0              0              85
  22  Lettuce         -0.119         0.852          1.049          0              90             0              85
  23  Lettuce         0.033          0.852          0.377          0              0              0              85
  24  Mug             2.281          1.943          1.563          0              0              0              63
  25  Apple           1.986          0.388          -0.097         0              270            0              79
  26  Apple           -0.328         1.085          2.068          0              90             0              83
  27  Egg             2.137          0.903          -0.097         0              270            0              79
  28  Lettuce         2.112          1.385          -0.279         0              270            0              79
  29  Fork            -0.138         0.746          1.925          0              90             0              57
  30  SoapBottle      -0.119         0.791          1.217          0              0              0              85
  31  Ladle           -0.282         0.982          2.548          0              0              0              58
  32  Ladle           -0.096         0.942          2.546          6.879          45             340.407        58
  33  Bread           -0.199         0.823          0.813          0              0              0              85
  34  SaltShaker      0.032          0.076          2.197          0              0              0              52
  35  Potato          -0.425         0.831          0.377          0              0              0              85
  36  Pan             1.928          0.070          0.640          0              0              0              55
  37  WineBottle      -0.119         0.791          0.545          0              0              0              85
  38  Spatula         1.850          0.761          1.922          0              90             0              73
  39  Knife           1.989          0.772          2.197          0              270            0              73
  40  Tomato          -0.196         0.837          1.386          0              0              0              85
  41  Apple           1.844          0.987          2.063          0              0              0              58
  42  ButterKnife     1.660          0.926          2.473          0              352.515        0              58
  43  Pot             0.708          0.081          2.523          0              90             0              65
  44  PepperShaker    -0.272         0.785          1.217          0              0              0              85
  45  Cup             2.127          1.501          0.388          0              0              0              66
  46  DishSponge      -0.115         0.080          2.129          0              0              0              65
  47  Plate           1.298          0.085          2.523          0              0              0              64
  48  Spoon           0.629          0.796          2.695          0              0              0              82
  49  Mug             0.033          0.785          0.713          0              0              0              85
  50  Bowl            2.167          1.945          1.097          0              0              0              68
  51  Cabinet         2.041          2.113          2.618          0              0              0
  52  Cabinet         0.126          0.388          1.774          0              0              0
  53  StoveBurner     2.140          0.929          1.504          0              180            0
  54  Cabinet         1.760          0.388          2.346          0              0              0
  55  Cabinet         1.760          0.388          0.869          0              0              0
  56  Cabinet         2.041          1.810          0.283          0              0              0
  57  Drawer          -0.024         0.774          2.061          0              0              0
  58  CounterTop      1.065          0.973          2.666          0              0              0
  59  Cabinet         1.969          2.113          2.618          0              0              0
  60  StoveBurner     2.140          0.929          1.106          0              0              0
  61  Cabinet         2.041          2.113          1.809          0              0              0
  62  StoveBurner     1.866          0.929          1.504          0              180            0
  63  Cabinet         2.041          2.113          1.766          0              0              0
  64  Cabinet         1.514          0.388          2.360          0              0              0
  65  Cabinet         0.351          0.388          2.360          0              0              0
  66  Cabinet         2.041          1.810          0.872          0              0              0
  67  Drawer          2.167          0.774          0.582          0              0              0
  68  Cabinet         2.041          2.113          0.892          0              0              0
  69  CounterTop      2.060          0.973          0.583          0              0              0
  70  Sink            0.935          0.936          2.646          0              0              0
  71  Curtains        0.964          2.061          2.989          0              0              0
  72  StoveBurner     1.863          0.929          1.106          0              0              0
  73  Drawer          1.911          0.774          2.060          0              0              0
  74  StoveKnob       2.326          1.092          1.610          288.013        90             0
  75  StoveKnob       2.326          1.092          1.460          288.013        90             0
  76  StoveKnob       2.326          1.092          1.210          288.013        90             0
  77  StoveKnob       2.326          1.092          1.050          288.013        90             0
  78  Toaster         2.126          0.926          0.572          0              270            0
  79  Fridge          2.104          0.0            -0.279         0              270            0
  80  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  81  LightSwitch     0.354          1.518          -1.031         0              0              0
  82  SinkBasin       0.903          0.784          2.640          0              0              0
  83  Microwave       -0.310         0.926          2.077          0              90             0
  84  CoffeeMachine   2.084          0.927          2.667          0              225            0
  85  DiningTable     -0.153         -0.000         1.073          0              270            0
  86  Faucet          1.175          0.926          2.950          270            90             0
  87  Faucet          0.686          0.926          2.950          270            90             0
  88  Chair           -0.077         0.002          0.196          0              15.000         0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Go to the table on your left.  | STEP 2: Pick up the tomato in front of the other tomato. | STEP 3: Take the tomato to the microwave that is just to the left of where the tomato was. | STEP 4: Open the door to the microwave. Set the tomato inside the microwave. Close the door to the microwave.Turn on the Microwave.  When the microwave finishes cooking. Open the door of the Microwave. Take out the tomato. | STEP 5: Take the tomato to the counter to the right of the sink. | STEP 6: Set the tomato on the counter, just to the right of the sink. | END