Task: Take tomato from fridge to sink, followed by taking it to counter with 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            1.124          0.75           0              90             0
   1  Potato          -1.698         1.090          -0.451         0              0              0              64
   2  DishSponge      0.766          1.322          -2.794         0              0              0              46
   3  DishSponge      0.900          0.344          -2.061         0              180            0              45
   4  Fork            1.025          1.323          -2.424         0              0              0              46
   5  Spoon           -1.762         1.052          -0.542         0              180            0              64
   6  Spoon           0.861          1.208          1.206          0              0              0              71
   7  Egg             -1.522         1.363          -3.425         0              0              0              46
   8  Cup             1.181          1.307          1.016          0              270            0              71
   9  Cup             -2.093         1.331          -1.117         0              0              0              53
  10  Plate           -1.530         1.323          -2.721         0              0              0              46
  11  Plate           0.824          0.345          -1.854         0              180            0              45
  12  Knife           -1.660         1.352          0.120          0              0              0              46
  13  SoapBottle      -1.602         0.344          -2.262         0              0              0              42
  14  Bowl            -1.749         0.342          0.512          0              0              0              44
  15  Bread           -1.790         1.397          -2.721         0              0              0              46
  16  Lettuce         -1.660         1.399          1.419          0              0              0              46
  17  Apple           -1.657         0.329          2.193          0              270            0              61
  18  Bread           1.155          1.397          -2.053         0              0              0              46
  19  Pot             0.349          1.329          -3.121         0              0              0              46
  20  Knife           -1.165         1.352          -2.981         0              90             0              46
  21  Bowl            -1.884         0.342          0.311          0              0              0              44
  22  Potato          0.977          1.714          1.663          0              270            0              59
  23  SoapBottle      -1.660         1.323          -2.201         0              0              0              46
  24  Fork            -1.920         1.323          0.770          0              0              0              46
  25  Cup             -1.818         0.341          1.007          0              0              0              47
  26  Kettle          -1.401         1.324          2.069          0              0              0              46
  27  Egg             -1.826         1.091          -0.451         0              0              0              64
  28  Pan             -0.630         1.331          -3.301         0              180            0              43
  29  SaltShaker      -1.614         0.338          0.110          0              0              0              44
  30  WineBottle      -1.660         1.323          2.069          0              0              0              46
  31  Lettuce         -1.891         1.400          -1.073         1.098          0              355.731        53
  32  Spatula         -1.518         0.435          -0.561         0              90             0              50
  33  PaperTowelRoll  -1.920         1.427          -2.721         0              0              0              46
  34  Tomato          1.056          1.709          1.781          0              270            0              59
  35  Plate           0.976          0.345          -2.267         0              180            0              45
  36  PepperShaker    1.110          1.202          1.238          0              0              0              71
  37  DishSponge      -1.917         1.328          -1.255         0              0              3.769          53
  38  Spoon           0.506          1.324          -0.942         0              0              0              46
  39  Apple           0.766          1.371          -1.683         0              0              0              46
  40  Mug             0.928          2.023          2.170          0              270            0              59
  41  StoveBurner     -0.239         1.325          -3.301         0              180            0
  42  Cabinet         -1.461         0.775          -2.002         0              0              0
  43  StoveBurner     -0.630         1.325          -3.301         0              180            0
  44  Cabinet         -1.461         0.775          0.470          0              0              0
  45  Cabinet         0.578          0.776          -2.054         0              0              0
  46  CounterTop      -1.809         1.358          1.182          0              0              0
  47  Cabinet         -1.461         0.775          1.310          0              0              0
  48  Faucet          -2.063         1.362          -0.726         0              39.391         0
  49  StoveBurner     -0.749         1.325          -2.973         0              0              0
  50  Drawer          -1.610         0.681          -0.430         0              0              0
  51  Window          -2.566         1.799          -0.822         270            0              0
  52  Drawer          -1.610         0.681          -1.217         0              0              0
  53  Sink            -1.990         1.143          -0.975         0              0              0
  54  StoveBurner     -0.125         1.325          -2.973         0              0              0
  55  StoveKnob       -0.185         1.338          -2.741         0              270            180
  56  StoveKnob       -0.336         1.338          -2.741         0              270            180
  57  StoveKnob       -0.569         1.338          -2.741         0              270            180
  58  StoveKnob       -0.707         1.338          -2.741         0              270            180
  59  Fridge          1.013          0.227          1.917          0              270            0
  60  Microwave       0.994          1.310          -2.163         0              270            0
  61  GarbageCan      -1.633         0.212          2.192          0              270            0
  62  LightSwitch     1.386          1.565          -0.657         0              270            0
  63  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  64  SinkBasin       -1.835         1.039          -0.542         0              0              0
  65  ButterKnife     0.873          0.468          0.651          0              0              0
  66  Toaster         -1.885         1.310          -2.512         0              90             0
  67  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  68  Drawer          0.647          1.061          0.680          0              270            0
  69  Drawer          0.648          1.061          1.020          0              270            0
  70  Drawer          0.648          0.843          1.020          0              270            0
  71  SideTable       0.975          0.220          0.869          0              270            0
  72  Drawer          0.648          0.602          0.680          0              270            0
  73  Drawer          0.648          0.596          1.020          0              270            0
  74  Drawer          0.648          0.843          0.680          0              270            0
  75  Stool           0.606          0.222          -1.084         1.233          280.489        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn left, walk to wall, turn right facing fridge | STEP 2: Open refrigerator, grab tomato off of shelf, close refrigerator  | STEP 3: Turn right, walk to table, turn right, walk to sink | STEP 4: Put tomato into sink, turn on water, turn off water, pick up tomato | STEP 5: Turn right, walk forward, turn right, walk forward to counter with microwave | STEP 6: Place tomato on right hand side of counter beside microwave | END