Task: cook a tomato and put it down on the white table

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           0.908          3.0            0              90             0
   1  SprayBottle     1.523          0.910          0.706          0              0              0              67
   2  SprayBottle     -1.123         0.911          -0.907         0              0              0              73
   3  Potato          -1.383         0.793          2.830          0              0              0              48
   4  CellPhone       -0.919         0.746          2.273          0              0              0              48
   5  CellPhone       -0.503         0.909          -0.907         0              0              0              73
   6  DishSponge      -1.290         0.748          2.087          0              0              0              48
   7  DishSponge      -0.919         0.748          2.087          0              0              0              48
   8  ButterKnife     1.200          0.886          2.800          0              0              0              99
   9  Glassbottle     -0.020         0.762          -0.651         0              0              0              94
  10  Spoon           1.444          0.912          -0.428         0              0              0              67
  11  Spatula         -1.513         0.927          -0.732         0              90             0              73
  12  Spatula         -1.197         0.764          1.902          0              180            0              48
  13  Plate           1.325          1.656          -0.333         0              0              0              49
  14  Plate           1.444          0.912          0.139          0              0              0              67
  15  Knife           -0.130         0.934          -0.354         0              0              0              73
  16  Knife           -1.197         0.770          2.459          0              0              0              48
  17  SoapBottle      -1.383         0.750          2.459          0              0              0              48
  18  Bread           1.367          0.949          2.261          0              0              0              99
  19  Mug             1.215          0.943          -0.633         0              320.314        0              86
  20  Mug             -1.225         0.336          0.778          0              90             0              87
  21  Apple           -1.513         0.972          -0.902         0              0              0              73
  22  Bread           -1.320         0.814          0.778          0              90             0              87
  23  Glassbottle     -0.170         0.117          -0.577         0              0              0              63
  24  Fork            -1.105         0.749          3.015          0              0              0              48
  25  Kettle          0.802          0.939          -0.740         0              90             0              76
  26  Tomato          -1.286         0.961          -0.392         0              0              0              73
  27  Plate           -1.197         0.749          2.644          0              0              0              48
  28  CellPhone       1.444          0.909          -0.144         0              0              0              67
  29  Lettuce         -1.206         1.707          0.984          0              90             0              87
  30  Pot             0.802          0.939          -0.473         0              0              0              75
  31  SoapBottle      0.250          0.117          -0.446         0              0              0              62
  32  WineBottle      -1.320         0.752          1.302          0              90             0              87
  33  Spatula         1.284          0.901          2.261          0              0              0              99
  34  Bowl            -1.263         1.419          1.092          0              90             0              87
  35  Apple           -1.206         1.697          1.289          0              90             0              87
  36  Cup             -1.206         1.420          0.673          0              90             0              87
  37  Knife           -1.105         0.771          2.273          0              0              0              48
  38  Egg             1.286          0.945          0.706          0              0              0              67
  39  SaltShaker      -1.475         0.745          1.902          0              0              0              48
  40  PepperShaker    1.049          0.907          0.139          0              0              0              67
  41  Potato          -1.263         0.796          1.092          0              90             0              87
  42  ButterKnife     -1.135         0.912          -0.562         0              0              0              73
  43  DishSponge      1.155          0.776          1.082          0              0              0              77
  44  Pan             -1.332         0.9            -0.699         0              345.0          0              73
  45  Spoon           0.165          0.759          -0.651         0              90             0              94
  46  SprayBottle     0.127          0.116          -0.490         0              0              0              62
  47  Mug             1.444          0.906          0.706          0              0              0              67
  48  DiningTable     -1.182         0.006          2.414          0              90             0
  49  Cabinet         1.184          2.059          0.375          0              0              0
  50  Cabinet         1.184          2.059          -0.635         0              0              0
  51  Cabinet         0.591          2.309          -0.645         0              0              0
  52  Cabinet         -0.574         2.059          -0.644         0              0              0
  53  Cabinet         -1.103         2.059          -0.644         0              0              0
  54  Cabinet         -1.185         2.059          -0.331         0              0              0
  55  Cabinet         -1.185         2.059          -0.281         0              0              0
  56  Cabinet         -1.185         2.059          0.375          0              0              0
  57  Cabinet         1.184          2.309          1.174          0              0              0
  58  Cabinet         1.184          2.309          0.424          0              0              0
  59  Cabinet         0.988          0.402          0.581          0              0              0
  60  Cabinet         0.988          0.402          0.531          0              0              0
  61  Cabinet         0.988          0.402          -0.178         0              0              0
  62  Cabinet         0.335          0.402          -0.348         0              0              0
  63  Cabinet         -0.374         0.402          -0.348         0              0              0
  64  Cabinet         0.988          0.402          1.231          0              0              0
  65  Cabinet         -1.185         2.309          1.374          0              0              0
  66  Cabinet         -1.185         2.309          0.424          0              0              0
  67  CounterTop      1.274          0.947          0.064          0              0              0
  68  Drawer          1.116          0.792          -0.015         0              0              0
  69  Drawer          -1.116         0.792          0.210          0              180            0
  70  Cabinet         -0.990         0.402          0.374          0              180            0
  71  Drawer          -1.116         0.792          -0.170         0              180            0
  72  Cabinet         -0.990         0.402          -0.335         0              180            0
  73  CounterTop      -1.001         0.947          -0.669         0              0              0
  74  StoveBurner     0.502          0.932          -0.740         0              90             0
  75  StoveBurner     0.801          0.932          -0.473         0              0              0
  76  StoveBurner     0.801          0.932          -0.740         0              90             0
  77  Drawer          1.116          0.792          1.081          0              0              0
  78  Sink            -0.013         0.912          -0.615         0              0              0
  79  Drawer          1.116          0.792          0.732          0              0              0
  80  StoveBurner     0.502          0.932          -0.469         0              0              0
  81  Drawer          1.116          0.792          0.367          0              0              0
  82  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  83  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  86  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  87  Fridge          -1.300         0.008          0.987          0              90             0
  88  GarbageCan      1.296          -0.024         1.465          0              0              0
  89  Window          -0.012         1.641          -0.972         90             0              0
  90  Window          1.598          1.646          2.489          90             270            0
  91  Toaster         1.356          0.900          1.044          0              270            0
  92  LightSwitch     0.118          1.353          3.799          0              180            0
  93  Microwave       -1.343         0.900          0.053          0              90             0
  94  SinkBasin       -0.029         0.748          -0.612         0              0              0
  95  Faucet          -0.026         0.927          -0.808         0              0              0
  96  Shelf           -1.182         0.127          2.414          0              90             0
  97  Stool           1.140          0.007          3.262          1.206          20.753         0
  98  Shelf           -1.182         0.435          2.414          0              90             0
  99  DiningTable     1.169          0.014          2.569          0              0              1.896
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: turn right then walk straight towards the sink then turn right towards the microwave | STEP 2: pick up the tomato next to the microwave | STEP 3: open the microwave and put the tomato inside and close the door then turn on the timer then open the door and remove the tomato and close the door | STEP 4: turn right then walk straight towards the door then turn right and walk towards the table then turn right again and then right again and look up | STEP 5: put the tomato down on the white table | END