Task: Put a cooked tomato on the counter.

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           1.124          0.0            0              90             0
   1  Pan             -1.750         0.343          1.523          0              0              0              49
   2  Pan             -0.749         1.332          -2.973         0              0              0              51
   3  Fork            -1.603         0.423          -1.348         0              0              0              54
   4  Fork            -1.660         1.323          -2.461         0              90             0              48
   5  Spoon           0.813          0.741          1.054          0              270            0              72
   6  Spatula         0.492          1.337          -3.343         0              0              0              48
   7  Spatula         -1.730         0.437          -0.430         0              90             0              52
   8  Cup             -2.179         1.320          -1.681         0              0              0              48
   9  Cup             0.900          0.342          -1.957         0              180            0              47
  10  Plate           -1.660         1.323          1.744          0              0              0              48
  11  SoapBottle      -1.727         0.344          -1.863         0              0              0              44
  12  SoapBottle      -1.401         1.323          -2.201         0              0              0              48
  13  SaltShaker      -1.790         1.318          0.120          0              0              0              48
  14  SaltShaker      -1.727         0.338          -2.262         0              0              0              44
  15  PepperShaker    1.053          0.339          -2.061         0              180            0              47
  16  PepperShaker    1.276          1.202          1.238          0              0              0              73
  17  Lettuce         -1.237         1.399          -3.314         0              0              0              48
  18  Apple           -1.698         1.099          -0.451         0              0              0              66
  19  Apple           -1.634         0.329          2.151          0              270            0              63
  20  Bread           0.896          1.397          -2.794         0              0              0              48
  21  Pot             -0.239         1.331          -3.301         0              180            0              43
  22  Knife           -1.830         1.331          -1.225         85.168         187.490        2.291          55
  23  Bowl            -1.237         1.321          -2.870         0              0              0              48
  24  Potato          1.017          1.796          2.230          0              270            0              61
  25  SoapBottle      -1.603         0.422          -0.430         0              0              0              52
  26  Fork            -2.049         1.323          0.445          0              0              0              48
  27  Cup             -1.789         0.341          -2.362         0              0              0              44
  28  Kettle          -1.691         1.310          -3.156         0              150.000        0              48
  29  Egg             -1.381         1.363          -0.332         0              0              0              48
  30  Pan             -1.790         1.322          -2.981         0              180            0              48
  31  SaltShaker      -1.730         0.415          -0.561         0              0              0              52
  32  WineBottle      -1.952         0.344          0.110          0              0              0              46
  33  Lettuce         -1.892         1.397          -1.047         14.560         0              355.721        55
  34  Spatula         -1.522         1.337          -2.981         0              90             0              48
  35  PaperTowelRoll  1.193          1.312          1.238          0              0              0              73
  36  Tomato          -1.920         1.356          -1.681         0              0              0              48
  37  Plate           0.492          1.323          -2.789         0              0              0              48
  38  PepperShaker    0.206          1.318          -2.789         0              0              0              48
  39  DishSponge      0.349          1.322          -3.011         0              0              0              48
  40  Spoon           0.983          0.461          0.983          0              90             0              75
  41  Apple           -1.610         0.329          2.275          0              270            0              63
  42  Mug             0.766          1.318          -2.424         0              0              0              48
  43  StoveBurner     -0.239         1.325          -3.301         0              180            0
  44  Cabinet         -1.461         0.775          -2.002         0              0              0
  45  StoveBurner     -0.630         1.325          -3.301         0              180            0
  46  Cabinet         -1.461         0.775          0.470          0              0              0
  47  Cabinet         0.578          0.776          -2.054         0              0              0
  48  CounterTop      -1.809         1.358          1.182          0              0              0
  49  Cabinet         -1.461         0.775          1.310          0              0              0
  50  Faucet          -2.063         1.362          -0.726         0              39.391         0
  51  StoveBurner     -0.749         1.325          -2.973         0              0              0
  52  Drawer          -1.610         0.681          -0.430         0              0              0
  53  Window          -2.566         1.799          -0.822         270            0              0
  54  Drawer          -1.610         0.681          -1.217         0              0              0
  55  Sink            -1.990         1.143          -0.975         0              0              0
  56  StoveBurner     -0.125         1.325          -2.973         0              0              0
  57  StoveKnob       -0.185         1.338          -2.741         0              270            180
  58  StoveKnob       -0.336         1.338          -2.741         0              270            180
  59  StoveKnob       -0.569         1.338          -2.741         0              270            180
  60  StoveKnob       -0.707         1.338          -2.741         0              270            180
  61  Fridge          1.013          0.227          1.917          0              270            0
  62  Microwave       0.994          1.310          -2.163         0              270            0
  63  GarbageCan      -1.633         0.212          2.192          0              270            0
  64  LightSwitch     1.386          1.565          -0.657         0              270            0
  65  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  66  SinkBasin       -1.835         1.039          -0.542         0              0              0
  67  ButterKnife     0.873          0.468          0.651          0              0              0
  68  Toaster         -1.885         1.310          -2.512         0              90             0
  69  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  70  Drawer          0.647          1.061          0.680          0              270            0
  71  Drawer          0.648          1.061          1.020          0              270            0
  72  Drawer          0.648          0.843          1.020          0              270            0
  73  SideTable       0.975          0.220          0.869          0              270            0
  74  Drawer          0.648          0.602          0.680          0              270            0
  75  Drawer          0.648          0.596          1.020          0              270            0
  76  Drawer          0.648          0.843          0.680          0              270            0
  77  Stool           0.606          0.222          -1.084         1.233          280.489        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn around, then turn left, then turn right to face the counter to the left of the sink. | STEP 2: Pick up the tomato from the counter. | STEP 3: Turn right, go straight, then turn right again to go to the microwave. | STEP 4: Cook the tomato inside of the microwave. | STEP 5: Turn left, move forward, then turn right to face the microwave again. | STEP 6: Place the tomato at the left front corner of the counter with the microwave. | END