Task: get tomato from garbage can, cook tomato in the microwave, put tomato into sink basin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          0.0            0              270            0
   1  Potato          -2.532         1.125          -0.885         0              90             0              76
   2  Potato          -0.601         0.947          1.764          0              0              0              44
   3  Spoon           -0.730         0.912          0.423          0              0              0              44
   4  Spoon           1.372          0.919          -1.150         0              225            0              58
   5  Spatula         -2.227         0.789          1.000          0              270            0              49
   6  Egg             1.573          0.941          -0.970         0              45             0              54
   7  Cup             1.356          0.916          -1.026         0              225            0              58
   8  Cup             -2.605         1.936          -0.353         0              0              0              66
   9  Plate           1.735          1.666          -0.550         0              0              0              64
  10  Tomato          -2.485         1.342          -1.074         0              90             0              76
  11  Tomato          -2.485         1.131          -0.507         0              90             0              76
  12  PepperShaker    -2.524         1.532          -0.165         0              0              0              67
  13  PepperShaker    -2.349         0.109          0.489          0              0              0              69
  14  SaltShaker      -0.081         0.905          1.764          0              0              0              44
  15  Lettuce         -2.289         0.994          0.631          0              0              0              72
  16  Lettuce         1.442          1.001          -1.220         0              225            0              58
  17  Bread           -2.206         0.996          1.830          0              0              0              72
  18  Bread           -0.341         0.996          0.423          0              0              0              44
  19  Mug             -2.578         1.084          -1.074         0              180            0              76
  20  Apple           -2.621         0.972          1.230          0              0              0              72
  21  Pan             1.411          0.929          0.064          0              0              0              73
  22  Knife           -2.227         0.798          1.322          0              90             0              75
  23  Apple           -0.211         0.972          1.540          0              0              0              44
  24  Bowl            -2.372         0.908          0.031          0              0              0              72
  25  Fork            1.512          0.911          0.435          0              0              0              53
  26  Bread           -2.485         1.175          -0.696         0              90             0              76
  27  Plate           1.513          0.913          -0.726         0              0              0              54
  28  Egg             -2.704         0.941          0.931          0              0              0              72
  29  Kettle          0.854          0.900          -1.790         0              0              0              54
  30  Potato          -2.372         0.947          0.931          0              0              0              72
  31  SaltShaker      1.426          0.906          0.406          0              0              0              53
  32  Lettuce         -0.211         0.994          1.764          0              0              0              44
  33  Cup             -2.605         1.535          1.337          0              0              0              57
  34  SoapBottle      -2.572         1.935          -1.092         0              0              0              65
  35  Spatula         -0.601         0.925          0.870          0              0              0              44
  36  PaperTowelRoll  -2.206         1.015          0.031          0              0              0              72
  37  ButterKnife     -2.455         0.910          0.331          0              0              0              72
  38  PepperShaker    -2.524         1.532          1.555          0              0              0              57
  39  DishSponge      -0.471         0.910          0.647          0              0              0              44
  40  Pot             1.412          0.929          -0.335         0              0              0              45
  41  Spoon           -2.379         0.774          1.274          0              90             0              75
  42  Tomato          1.687          0.227          0.679          0              0              0              83
  43  Mug             0.464          0.955          -1.593         0              0              0              54
  44  CounterTop      -0.360         0.946          1.093          0              0              0
  45  StoveBurner     1.412          0.923          -0.335         0              0              0
  46  StoveKnob       1.878          1.093          0.018          287.989        90             0
  47  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  48  Cabinet         -2.446         1.948          2.924          0              0              0
  49  Drawer          -2.276         0.792          0.902          0              0              0
  50  Cabinet         -2.145         0.402          1.578          0              0              0
  51  Cabinet         0.149          2.008          -1.603         0              90             0
  52  StoveBurner     1.691          0.923          -0.335         0              0              0
  53  CounterTop      1.585          0.946          0.405          0              0              0
  54  CounterTop      0.474          0.946          -1.625         0              0              0
  55  StoveBurner     1.691          0.923          0.064          0              0              0
  56  Cabinet         -2.446         1.948          1.687          0              0              0
  57  Cabinet         -2.446         1.948          1.640          0              0              0
  58  Sink            1.381          0.810          -1.271         0              225            0
  59  StoveKnob       1.878          1.093          0.150          287.989        90             0
  60  Cabinet         -2.145         0.402          -0.236         0              0              0
  61  Drawer          -2.276         0.792          0.437          0              0              0
  62  Drawer          -2.276         0.792          -0.027         0              0              0
  63  Cabinet         1.572          2.008          0.474          0              0              0
  64  Cabinet         1.572          2.008          -0.775         0              0              0
  65  Cabinet         -2.445         2.148          -1.275         0              0              0
  66  Cabinet         -2.446         2.148          -0.284         0              0              0
  67  Cabinet         -2.446         1.948          0.355          0              0              0
  68  Cabinet         -2.446         1.948          0.405          0              0              0
  69  Cabinet         -2.145         0.402          0.644          0              0              0
  70  Cabinet         -2.145         0.402          0.695          0              0              0
  71  Cabinet         -2.285         1.968          -1.325         0              180            0
  72  CounterTop      -1.485         0.946          1.319          0              0              0
  73  StoveBurner     1.411          0.923          0.064          0              0              0
  74  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  75  Drawer          -2.276         0.792          1.368          0              0              0
  76  Fridge          -2.475         0.0            -0.782         0              90             0
  77  LightSwitch     -0.929         1.350          -1.950         0              0              0
  78  Toaster         -2.564         0.900          1.876          0              90             0
  79  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  80  Window          1.508          1.534          -1.496         90             135            0
  81  Window          1.973          1.521          1.121          90             90             0
  82  SinkBasin       1.149          0.753          -1.380         0              225            0
  83  GarbageCan      1.646          -0.000         0.679          0              0              0
  84  Microwave       -2.580         0.900          2.440          0              90             0
  85  Stool           0.439          0.010          0.747          0              0              0
  86  Stool           -2.303         0.010          1.839          0              0              0
  87  Faucet          1.235          1.138          -1.473         0              225            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: turn to the right until facing the garbage can with the red tomato inside | STEP 2: pick up the red tomato inside the garbage can | STEP 3: turn left, walk to microwave, stop in front of microwave | STEP 4: open microwave door, put tomato inside, close door, cook tomato, open door, pick up tomato, close door | STEP 5: turn around, walk to the kitchen sink, stop in front of kitchen sink | STEP 6: put tomato into sink basin | END