Task: put a rinsed off tomato inside 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           -0.25          0.900          2.5            0              180            0
   1  Fork            -0.689         0.747          0.914          0              270            0              65
   2  Spoon           1.310          0.747          0.780          0              90             0              72
   3  Spatula         1.275          0.761          0.916          0              90             0              72
   4  Spatula         -0.710         0.952          0.921          0              0              0              67
   5  Egg             1.362          0.979          1.631          0              180            0              69
   6  Egg             1.362          0.973          0.739          0              0              0              47
   7  Cup             1.362          0.936          2.597          0              0              0              47
   8  Plate           1.391          0.086          2.251          0              0              0              51
   9  Plate           -0.804         0.086          2.456          0              0              0              63
  10  Knife           -0.961         0.959          2.234          0              0              0              42
  11  Knife           -1.043         0.959          1.076          0              180            0              67
  12  SoapBottle      -0.712         0.937          2.159          0              0              0              42
  13  SoapBottle      1.390          0.069          2.945          0              0              0              80
  14  Bowl            -0.924         1.315          0.195          0              90             0              74
  15  Bowl            1.630          1.497          2.555          0              0              0              61
  16  SaltShaker      1.748          0.934          1.673          0              0              0              47
  17  Lettuce         -1.127         1.028          2.234          0              0              0              42
  18  Mug             1.418          0.095          0.171          0              0              0              52
  19  Apple           1.592          0.987          0.806          0              0              0              47
  20  Apple           1.587          1.645          1.808          0              270            0              81
  21  Lettuce         -1.126         1.028          0.998          0              0              0              67
  22  SoapBottle      -1.076         1.827          0.303          0              0              0              56
  23  Bread           -0.971         1.567          0.042          0              90             0              74
  24  Fork            -0.876         0.938          0.687          0              0              0              67
  25  Tomato          -0.710         0.999          0.843          0              0              0              67
  26  Bowl            1.503          0.941          1.673          0              180            0              69
  27  Pot             -1.109         0.930          1.865          0              0              0              66
  28  Spatula         1.483          0.761          0.780          0              90             0              72
  29  Knife           1.806          0.959          1.566          0              90             0              47
  30  SaltShaker      1.662          1.944          1.504          0              0              0              60
  31  Apple           -0.964         0.864          -0.110         0              90             0              74
  32  PepperShaker    -1.081         1.497          2.524          0              180            0              64
  33  ButterKnife     -1.126         0.937          0.921          0              0              0              67
  34  Potato          -0.877         1.531          0.348          0              90             0              74
  35  Plate           1.391          0.086          0.848          0              0              0              68
  36  DishSponge      -1.077         1.828          -0.035         0              0              0              55
  37  Egg             1.587          1.621          1.546          0              270            0              81
  38  Cup             -1.039         1.500          1.083          0              0              0              53
  39  Pan             1.378          1.737          0.392          0              270            0              50
  40  Spoon           1.315          0.945          1.756          0              270            0              69
  41  Mug             1.528          1.002          2.345          0              270            0              47
  42  CounterTop      -0.973         0.973          2.386          0              0              0
  43  Drawer          -0.783         0.774          2.381          0              180            0
  44  StoveBurner     -1.108         0.922          1.470          0              0              0
  45  Drawer          1.370          0.774          2.391          0              0              0
  46  Stool           -0.748         0.008          3.116          0              0              0
  47  CounterTop      1.504          0.973          2.309          0              0              0
  48  Cabinet         1.219          1.388          0.591          0              0              0
  49  Cabinet         1.500          2.113          1.164          0              0              0
  50  Cabinet         1.219          2.010          0.591          0              0              0
  51  Cabinet         1.219          0.388          2.105          0              0              0
  52  Cabinet         1.219          0.553          0.591          0              0              0
  53  Cabinet         -0.913         2.113          1.164          0              0              0
  54  Cabinet         -0.633         0.388          0.627          0              0              0
  55  Cabinet         -0.913         2.050          -0.329         0              0              0
  56  Cabinet         -0.913         2.113          0.583          0              0              0
  57  Cabinet         -0.913         2.113          2.082          0              0              0
  58  Cabinet         -0.913         2.113          1.207          0              0              0
  59  Cabinet         1.500          2.113          2.082          0              0              0
  60  Cabinet         1.500          2.113          1.207          0              0              0
  61  Cabinet         1.500          1.810          2.691          0              0              0
  62  Cabinet         1.500          1.810          2.101          0              0              0
  63  Cabinet         -0.633         0.388          2.105          0              0              0
  64  Cabinet         -0.911         1.810          2.700          0              180            0
  65  Drawer          -0.783         0.774          0.915          0              180            0
  66  StoveBurner     -1.108         0.922          1.865          0              0              0
  67  CounterTop      -0.972         0.973          0.921          0              0              0
  68  Cabinet         1.219          0.388          0.631          0              0              0
  69  Sink            1.544          0.869          1.639          0              180            0
  70  StoveBurner     -0.832         0.922          1.865          0              0              0
  71  StoveBurner     -0.831         0.922          1.470          0              0              0
  72  Drawer          1.370          0.774          0.916          0              0              0
  73  Cabinet         -0.911         1.810          2.111          0              180            0
  74  Fridge          -1.001         0.0            0.119          0              0              0
  75  StoveKnob       -0.648         0.926          1.923          0              270            0
  76  StoveKnob       -0.648         0.926          1.363          0              270            0
  77  StoveKnob       -0.648         0.926          1.513          0              270            0
  78  StoveKnob       -0.648         0.926          1.763          0              270            0
  79  Toaster         -1.002         0.926          2.561          0              90             0
  80  GarbageCan      1.451          -0.029         2.912          0              0              0
  81  Microwave       1.632          1.480          1.645          0              270            0
  82  Window          0.224          1.601          3.509          90             0              0
  83  CoffeeMachine   1.692          0.926          2.453          0              270            0
  84  SinkBasin       1.461          0.833          1.369          0              180            0
  85  LightSwitch     0.451          1.412          -1.674         0              0              0
  86  Faucet          1.707          0.925          1.363          0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: walk towards the fridge and turn right to face the kitchen counter | STEP 2: grab a tomato off of the counter | STEP 3: turn around and walk over to the kitchen sink | STEP 4: rinse the tomato off in the sink | STEP 5: move to the left a bit and look up towards the microwave | STEP 6: place the tomato inside the microwave and close the door | END