Task: Place a tomato in a microwave oven

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.900          -1.5           0              0              0
   1  Pan             -1.081         0.949          -1.527         0              0              0              82
   2  Pan             -1.081         0.949          -1.81          0              0              0              77
   3  SprayBottle     -2.193         0.909          -1.620         0              0              0              79
   4  Pen             -2.116         0.913          -1.448         0              0              0              76
   5  Pen             -1.809         0.913          -1.707         0              0              0              86
   6  Potato          1.476          1.409          2.350          0              270            0              100
   7  Potato          -1.809         0.952          -1.879         0              0              0              79
   8  Ladle           0.726          1.699          -1.839         0              0              0              70
   9  Ladle           -1.712         0.954          0.291          0              90             0              83
  10  Kettle          1.342          1.657          -1.264         0              0              0              73
  11  ButterKnife     1.010          0.911          -0.65          0              0              0              81
  12  DishSponge      -0.778         0.910          -1.960         0              0              0              81
  13  Fork            0.903          0.775          0.485          0              90             0              58
  14  Fork            -0.627         0.911          -1.789         0              180            0              81
  15  Spatula         1.426          0.926          0.031          0              0              0              81
  16  Cup             0.649          0.117          -1.633         0              90             0              75
  17  Knife           -1.732         0.940          -1.879         0              90             0              79
  18  Knife           0.183          0.949          -1.657         0              270            0              60
  19  SoapBottle      -1.957         0.910          0.204          0              0              0              83
  20  SoapBottle      -2.079         0.910          0.204          0              0              0              83
  21  Tomato          0.758          0.951          -1.619         0              0              0              81
  22  Tomato          1.420          0.254          1.08           0              0              0              98
  23  Bowl            0.200          1.656          -1.801         0              0              0              71
  24  PepperShaker    1.401          1.651          -0.736         0              0              0              69
  25  PepperShaker    1.223          1.651          -0.736         0              0              0              69
  26  SaltShaker      -1.886         0.905          -1.793         0              0              0              79
  27  SaltShaker      0.771          0.112          -1.680         0              90             0              75
  28  Lettuce         1.454          1.231          -1.345         0              0              0              87
  29  Lettuce         1.494          1.231          -1.688         0              0              0              87
  30  Mug             -2.445         0.905          0.032          0              0              0              83
  31  Apple           -0.778         0.945          -1.789         0              0              0              81
  32  Tomato          1.388          1.760          1.901          0              270            0              100
  33  Glassbottle     -0.342         0.117          -1.683         0              0              0              67
  34  Knife           -2.323         0.940          0.204          0              0              0              83
  35  Plate           0.569          0.911          -1.789         0              0              0              81
  36  Fork            -2.201         0.911          0.032          0              0              0              83
  37  Ladle           -0.530         1.699          -1.839         0              0              0              63
  38  Potato          1.426          1.409          2.101          0              270            0              100
  39  Lettuce         1.375          1.436          1.851          0              270            0              100
  40  Kettle          1.208          0.118          0.372          0              0              0              64
  41  Pen             -1.962         0.913          -1.879         0              0              0              76
  42  SaltShaker      -0.477         0.906          -1.448         0              0              0              81
  43  Cup             -0.063         0.783          -1.707         0              270            0              102
  44  Egg             1.344          1.294          0.136          0              270            0              103
  45  Spatula         -1.712         0.925          0.463          0              0              0              83
  46  Bowl            -1.082         1.851          -1.802         0              0              0              61
  47  SprayBottle     -2.079         0.909          0.463          0              0              0              83
  48  Pan             -1.809         0.910          -1.534         0              0              0              89
  49  SoapBottle      0.183          0.919          -1.758         0              270            0              60
  50  Pot             0.967          0.9            0.249          0              0              0              81
  51  ButterKnife     -1.835         0.910          0.204          0              90             0              83
  52  PepperShaker    0.475          0.906          -1.619         0              0              0              81
  53  DishSponge      0.927          0.910          0.031          0              0              0              81
  54  Bread           1.164          0.975          -0.160         0              300.000        0              81
  55  Apple           0.285          0.954          -1.758         0              270            0              60
  56  Spoon           -0.288         0.774          -1.500         0              270            0              80
  57  Mug             1.070          0.957          -1.641         0              0              0              97
  58  Drawer          0.860          0.75           0.430          0              0              0
  59  Drawer          0.871          0.75           -1.134         0              0              0
  60  Sink            0.156          0.817          -1.801         0              270            0
  61  Cabinet         -0.868         2.005          -1.690         0              0              0
  62  Cabinet         -1.661         2.059          -1.684         0              90             0
  63  Cabinet         -0.817         2.059          -1.689         0              0              0
  64  Cabinet         0.860          0.402          0.665          0              0              0
  65  Cabinet         0.860          0.402          -0.552         0              0              0
  66  Cabinet         0.860          0.402          -1.365         0              0              0
  67  Cabinet         -0.244         0.402          -1.389         0              0              0
  68  Cabinet         -0.815         0.402          -1.389         0              0              0
  69  Cabinet         1.159          2.059          -0.334         0              0              0
  70  Cabinet         0.488          2.059          -1.689         0              0              0
  71  Cabinet         -0.193         2.059          -1.689         0              0              0
  72  Drawer          0.860          0.75           -0.699         0              0              0
  73  Cabinet         1.159          2.059          -1.019         0              0              0
  74  Cabinet         -1.611         2.005          -1.690         0              0              0
  75  Cabinet         0.832          0.401          -1.393         0              90             0
  76  Drawer          -2.105         0.75           -1.389         0              0              0
  77  StoveBurner     -1.081         0.941          -1.809         0              0              0
  78  Cabinet         -0.202         0.401          -1.391         0              90             0
  79  CounterTop      -1.973         0.945          -1.707         0              0              0
  80  Drawer          -0.375         0.75           -1.389         0              0              0
  81  CounterTop      1.164          0.946          -0.649         0              0              0
  82  StoveBurner     -1.081         0.941          -1.527         0              0              0
  83  CounterTop      -2.096         0.945          0.291          0              0              0
  84  Cabinet         -2.237         0.402          -1.389         0              0              0
  85  Drawer          0.584          0.75           -1.389         0              0              0
  86  Drawer          -1.795         0.75           -1.389         0              0              0
  87  CounterTop      1.5            1.197          -0.654         0              0              0
  88  Cabinet         -1.667         0.402          -1.389         0              0              0
  89  StoveBurner     -1.430         0.941          -1.525         0              0              0
  90  Drawer          -0.685         0.75           -1.389         0              0              0
  91  StoveBurner     -1.430         0.941          -1.809         0              0              0
  92  LightSwitch     -2.539         1.289          2.568          0              90             0
  93  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  94  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  95  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  96  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  97  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  98  GarbageCan      1.343          0.015          1.041          0              0              0
  99  HousePlant      1.440          1.153          0.593          0              0              0
 100  Fridge          1.417          0.0            2.101          0              0              0
 101  Window          -0.486         1.452          3.302          90             0              0
 102  SinkBasin       -0.063         0.765          -1.713         0              270            0
 103  Microwave       1.422          1.150          0.022          0              270            0
 104  Toaster         -2.066         0.900          -1.848         0              0              0
 105  Stool           -1.994         0.010          0.882          0              0              0
 106  Faucet          -0.096         1.041          -1.867         0              270            0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: take a few steps forward and turn to the right and go to the counter top and turn to the right | STEP 2: pick up the tomato from the counter top | STEP 3: turn to the left twice and go to the front of the microwave oven and turn to the right | STEP 4: open the microwave oven's door and put the tomato in the microwave and close the door | END