Task: put a cooked tomato on to 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           0.0            0.908          2.75           0              180            0
   1  SprayBottle     -1.433         0.911          -0.430         0              0              0              75
   2  SprayBottle     -1.513         0.911          -0.817         0              0              0              75
   3  DishSponge      -0.919         0.748          1.902          0              0              0              50
   4  DishSponge      1.034          0.885          2.692          0              0              0              101
   5  Spoon           -0.222         0.913          -0.359         0              0              0              75
   6  Fork            -0.020         0.759          -0.612         0              0              0              96
   7  Spatula         -1.012         0.763          2.273          0              0              0              50
   8  Pot             0.802          0.939          -0.740         0              90             0              78
   9  Egg             1.444          0.945          0.139          0              0              0              69
  10  Cup             -1.378         1.636          1.289          0              90             0              89
  11  Cup             1.297          1.659          0.194          0              0              0              51
  12  Knife           1.207          0.933          0.139          0              0              0              69
  13  Tomato          1.444          0.961          0.422          0              0              0              69
  14  Tomato          -1.378         1.338          1.302          0              90             0              89
  15  Tomato          1.367          0.936          2.369          0              0              0              101
  16  SoapBottle      1.297          1.661          0.016          0              0              0              51
  17  Bowl            1.444          0.909          -0.144         0              0              0              69
  18  Bread           -1.012         0.813          2.644          0              0              0              50
  19  Bread           1.207          0.974          0.706          0              0              0              69
  20  SaltShaker      -0.919         0.745          2.830          0              0              0              50
  21  PepperShaker    1.450          0.882          2.477          0              0              0              101
  22  Apple           0.103          0.818          -0.533         0              0              0              96
  23  Apple           -0.144         0.818          -0.573         0              90             0              96
  24  Bread           -1.290         0.812          2.644          0              0              0              50
  25  Glassbottle     -1.378         0.751          1.302          0              90             0              89
  26  Fork            -1.105         0.750          1.902          0              0              0              50
  27  Kettle          -1.357         0.739          3.024          0              240.000        0              50
  28  Tomato          -1.206         1.470          1.302          0              90             0              89
  29  Plate           -1.325         2.154          1.093          0              0              0              67
  30  CellPhone       1.367          0.884          2.584          0              0              0              101
  31  Lettuce         -0.658         0.983          -0.748         0              0              0              75
  32  Pot             0.502          0.939          -0.740         0              90             0              76
  33  SoapBottle      -1.475         0.750          2.644          0              0              0              50
  34  WineBottle      -0.925         1.657          -0.724         0              0              0              55
  35  Spatula         -1.012         0.763          2.087          0              0              0              50
  36  Bowl            -1.320         0.749          0.987          0              90             0              89
  37  Apple           1.357          0.146          1.440          0              0              0              90
  38  Cup             0.951          0.885          2.369          0              0              0              101
  39  Knife           1.450          0.908          2.692          0              90             0              101
  40  Egg             -1.099         0.375          0.883          0              90             0              89
  41  SaltShaker      1.262          2.150          1.043          0              0              0              59
  42  PepperShaker    1.128          0.907          -0.428         0              0              0              69
  43  Potato          1.245          0.131          1.409          0              270            0              90
  44  ButterKnife     1.365          0.911          0.706          0              0              0              69
  45  DishSponge      -0.813         0.911          -0.509         0              0              0              75
  46  Pan             -1.332         0.9            -0.699         0              345.0          0              75
  47  Spoon           1.117          0.887          2.369          0              0              0              101
  48  SprayBottle     -1.475         0.748          1.902          0              0              0              50
  49  Mug             1.215          0.943          -0.633         0              320.314        0              88
  50  DiningTable     -1.182         0.006          2.414          0              90             0
  51  Cabinet         1.184          2.059          0.375          0              0              0
  52  Cabinet         1.184          2.059          -0.635         0              0              0
  53  Cabinet         0.591          2.309          -0.645         0              0              0
  54  Cabinet         -0.574         2.059          -0.644         0              0              0
  55  Cabinet         -1.103         2.059          -0.644         0              0              0
  56  Cabinet         -1.185         2.059          -0.331         0              0              0
  57  Cabinet         -1.185         2.059          -0.281         0              0              0
  58  Cabinet         -1.185         2.059          0.375          0              0              0
  59  Cabinet         1.184          2.309          1.174          0              0              0
  60  Cabinet         1.184          2.309          0.424          0              0              0
  61  Cabinet         0.988          0.402          0.581          0              0              0
  62  Cabinet         0.988          0.402          0.531          0              0              0
  63  Cabinet         0.988          0.402          -0.178         0              0              0
  64  Cabinet         0.335          0.402          -0.348         0              0              0
  65  Cabinet         -0.374         0.402          -0.348         0              0              0
  66  Cabinet         0.988          0.402          1.231          0              0              0
  67  Cabinet         -1.185         2.309          1.374          0              0              0
  68  Cabinet         -1.185         2.309          0.424          0              0              0
  69  CounterTop      1.274          0.947          0.064          0              0              0
  70  Drawer          1.116          0.792          -0.015         0              0              0
  71  Drawer          -1.116         0.792          0.210          0              180            0
  72  Cabinet         -0.990         0.402          0.374          0              180            0
  73  Drawer          -1.116         0.792          -0.170         0              180            0
  74  Cabinet         -0.990         0.402          -0.335         0              180            0
  75  CounterTop      -1.001         0.947          -0.669         0              0              0
  76  StoveBurner     0.502          0.932          -0.740         0              90             0
  77  StoveBurner     0.801          0.932          -0.473         0              0              0
  78  StoveBurner     0.801          0.932          -0.740         0              90             0
  79  Drawer          1.116          0.792          1.081          0              0              0
  80  Sink            -0.013         0.912          -0.615         0              0              0
  81  Drawer          1.116          0.792          0.732          0              0              0
  82  StoveBurner     0.502          0.932          -0.469         0              0              0
  83  Drawer          1.116          0.792          0.367          0              0              0
  84  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  86  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  87  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  88  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  89  Fridge          -1.300         0.008          0.987          0              90             0
  90  GarbageCan      1.296          -0.024         1.465          0              0              0
  91  Window          -0.012         1.641          -0.972         90             0              0
  92  Window          1.598          1.646          2.489          90             270            0
  93  Toaster         1.356          0.900          1.044          0              270            0
  94  LightSwitch     0.118          1.353          3.799          0              180            0
  95  Microwave       -1.343         0.900          0.053          0              90             0
  96  SinkBasin       -0.029         0.748          -0.612         0              0              0
  97  Faucet          -0.026         0.927          -0.808         0              0              0
  98  Shelf           -1.182         0.127          2.414          0              90             0
  99  Stool           1.140          0.007          3.262          1.206          20.753         0
 100  Shelf           -1.182         0.435          2.414          0              90             0
 101  DiningTable     1.169          0.014          2.569          0              0              1.896
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: move forward across the room towards the sink and turn to the left to face the counter where the loaf of bread is sitting | STEP 2: pick up the tomato off of the counter | STEP 3: turn around and move to the microwave | STEP 4: open the microwave door, put the tomato inside, close the door, turn it on for a few seconds, open the door and remove the tomato and close the door | STEP 5: turn to the left to face the counter to the right of the sink | STEP 6: put the tomato on to the counter | END