Task: Wash the tomato, put the tomato in the microwave

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            0.900          1.25           0              270            0
   1  Potato          -0.988         0.847          -0.034         0              90             0              70
   2  Fork            -0.876         0.938          0.998          0              180            0              63
   3  Fork            -1.126         0.938          0.765          0              0              0              63
   4  Spoon           -1.127         0.926          2.310          1.011          0              0              38
   5  Spoon           1.592          0.939          1.007          0              0              0              43
   6  Pot             -1.109         0.930          1.865          0              0              0              62
   7  Egg             -0.924         1.354          -0.034         0              90             0              70
   8  Egg             1.362          0.979          1.840          0              180            0              65
   9  Plate           1.380          1.751          -0.035         0              0              0              46
  10  Knife           -0.689         0.768          2.381          0              270            0              39
  11  SoapBottle      -0.960         0.937          1.154          0              0              0              63
  12  SaltShaker      -0.710         0.934          1.154          0              0              0              63
  13  SaltShaker      1.549          1.497          2.615          0              0              0              57
  14  PepperShaker    -1.209         0.934          0.765          0              0              0              63
  15  PepperShaker    -0.793         0.934          1.154          0              0              0              63
  16  Apple           1.489          0.119          2.879          0              0              0              76
  17  Lettuce         1.458          1.014          1.681          4.619          59.942         0              65
  18  SoapBottle      1.666          1.503          1.058          0              0              0              45
  19  Bread           -0.917         0.992          2.264          0              302.336        0              38
  20  Fork            -0.861         0.747          0.982          0              90             0              61
  21  Tomato          -1.209         0.999          1.076          0              0              0              63
  22  Bowl            -1.075         1.946          1.830          0              0              0              53
  23  Pot             -1.109         0.930          1.470          0              0              0              40
  24  Spatula         1.414          0.761          0.984          0              270            0              68
  25  Knife           1.344          0.768          0.780          0              90             0              68
  26  SaltShaker      -0.758         0.743          2.177          0              180            0              39
  27  Apple           -0.988         0.864          0.118          0              90             0              70
  28  PepperShaker    1.275          0.078          2.392          0              0              0              47
  29  ButterKnife     -1.126         0.937          1.154          0              0              0              63
  30  Potato          -0.840         0.232          0.282          0              90             0              70
  31  Plate           -1.076         1.832          0.303          0              0              0              52
  32  DishSponge      1.669          0.937          0.739          0              0              0              43
  33  Egg             1.550          0.979          1.798          0              180            0              65
  34  Cup             -1.043         0.936          0.998          0              0              0              63
  35  Pan             1.378          1.737          0.392          0              270            0              46
  36  Spoon           -0.827         0.747          0.847          0              180            0              61
  37  Mug             1.528          1.002          2.345          0              270            0              43
  38  CounterTop      -0.973         0.973          2.386          0              0              0
  39  Drawer          -0.783         0.774          2.381          0              180            0
  40  StoveBurner     -1.108         0.922          1.470          0              0              0
  41  Drawer          1.370          0.774          2.391          0              0              0
  42  Stool           -0.748         0.008          3.116          0              0              0
  43  CounterTop      1.504          0.973          2.309          0              0              0
  44  Cabinet         1.219          1.388          0.591          0              0              0
  45  Cabinet         1.500          2.113          1.164          0              0              0
  46  Cabinet         1.219          2.010          0.591          0              0              0
  47  Cabinet         1.219          0.388          2.105          0              0              0
  48  Cabinet         1.219          0.553          0.591          0              0              0
  49  Cabinet         -0.913         2.113          1.164          0              0              0
  50  Cabinet         -0.633         0.388          0.627          0              0              0
  51  Cabinet         -0.913         2.050          -0.329         0              0              0
  52  Cabinet         -0.913         2.113          0.583          0              0              0
  53  Cabinet         -0.913         2.113          2.082          0              0              0
  54  Cabinet         -0.913         2.113          1.207          0              0              0
  55  Cabinet         1.500          2.113          2.082          0              0              0
  56  Cabinet         1.500          2.113          1.207          0              0              0
  57  Cabinet         1.500          1.810          2.691          0              0              0
  58  Cabinet         1.500          1.810          2.101          0              0              0
  59  Cabinet         -0.633         0.388          2.105          0              0              0
  60  Cabinet         -0.911         1.810          2.700          0              180            0
  61  Drawer          -0.783         0.774          0.915          0              180            0
  62  StoveBurner     -1.108         0.922          1.865          0              0              0
  63  CounterTop      -0.972         0.973          0.921          0              0              0
  64  Cabinet         1.219          0.388          0.631          0              0              0
  65  Sink            1.544          0.869          1.639          0              180            0
  66  StoveBurner     -0.832         0.922          1.865          0              0              0
  67  StoveBurner     -0.831         0.922          1.470          0              0              0
  68  Drawer          1.370          0.774          0.916          0              0              0
  69  Cabinet         -0.911         1.810          2.111          0              180            0
  70  Fridge          -1.001         0.0            0.119          0              0              0
  71  StoveKnob       -0.648         0.926          1.923          0              270            0
  72  StoveKnob       -0.648         0.926          1.363          0              270            0
  73  StoveKnob       -0.648         0.926          1.513          0              270            0
  74  StoveKnob       -0.648         0.926          1.763          0              270            0
  75  Toaster         -1.002         0.926          2.561          0              90             0
  76  GarbageCan      1.451          -0.029         2.912          0              0              0
  77  Microwave       1.632          1.480          1.645          0              270            0
  78  Window          0.224          1.601          3.509          90             0              0
  79  CoffeeMachine   1.692          0.926          2.453          0              270            0
  80  SinkBasin       1.461          0.833          1.369          0              180            0
  81  LightSwitch     0.451          1.412          -1.674         0              0              0
  82  Faucet          1.707          0.925          1.363          0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Walk to the left of the stove | STEP 2: Grab the tomato on the counter | STEP 3: Turn around, walk to the sink | STEP 4: Put the tomato in the sink, open the faucet, wash the tomato and turn off the faucet, take the tomato | STEP 5: Walk to the left a little to the microwave | STEP 6: Open the microwave, put the tomato in, close the microwave | END