Task: cook the tomato in the microwave, put the tomato on the corner shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          -2.75          0              90             0
   1  DishSponge      -0.566         0.813          -3.415         0              315            0              66
   2  DishSponge      -1.694         0.941          -3.439         0              0              0              37
   3  ButterKnife     -0.315         0.941          -1.406         0              0              0              55
   4  ButterKnife     -0.473         0.941          -1.494         0              0              0              55
   5  Pot             -0.437         0.961          -1.845         0              180            0              38
   6  Plate           -1.471         0.956          -3.829         0              0              0              37
   7  Plate           -3.496         0.774          -3.430         0              109.125        0              73
   8  SoapBottle      -0.244         0.940          -2.611         0              0              0              37
   9  Bowl            -0.429         0.078          -2.737         0              0              0              50
  10  Lettuce         -4.080         0.851          -3.227         0              109.125        0              73
  11  Lettuce         -0.321         1.033          -2.788         0              0              0              37
  12  PepperShaker    -4.242         0.687          -0.187         0              0              0              72
  13  Mug             -0.245         1.483          -0.646         0              270            0              67
  14  Mug             -0.402         1.498          -3.685         0              45             0              49
  15  Apple           -4.242         0.751          -0.369         0              0              0              72
  16  SoapBottle      -1.248         0.940          -3.673         0              0              0              37
  17  Pot             -2.359         0.895          -0.290         0              270            0              74
  18  Fork            -0.473         0.941          -1.319         0              0              0              55
  19  Cup             -0.088         1.939          -2.338         0              0              0              47
  20  Tomato          -3.434         0.810          -3.253         0              109.125        0              73
  21  Pan             -0.222         0.961          -2.243         0              0              0              56
  22  Plate           -3.364         0.908          -0.376         0              270            0              74
  23  Bread           -2.984         0.956          -0.311         0              50.592         0              74
  24  Spatula         -0.547         0.828          -3.318         0              135            0              66
  25  Knife           -2.558         0.937          -3.467         90             0              0              37
  26  SaltShaker      -0.078         0.937          -1.538         0              0              0              55
  27  PepperShaker    -0.509         0.747          -2.846         0              0              0              42
  28  ButterKnife     -0.157         0.941          -1.450         0              0              0              55
  29  Apple           -3.789         0.821          -3.424         0              199.125        0              73
  30  DishSponge      -0.785         0.080          -3.393         0              45             0              51
  31  Potato          -3.530         0.792          -3.793         0              334.125        0              73
  32  Egg             -3.364         0.935          -0.633         0              270            0              74
  33  Spoon           -3.519         0.761          -3.027         0              199.125        0              73
  34  Lettuce         -3.350         0.851          -2.922         0              199.125        0              73
  35  Mug             -3.882         0.685          -0.369         0              0              0              72
  36  Bowl            -4.062         0.689          -0.187         0              0              0              72
  37  CounterTop      -1.937         0.977          -3.673         0              0              0
  38  StoveBurner     -0.437         0.924          -1.845         0              180            0
  39  StoveBurner     -0.222         0.924          -1.845         0              180            0
  40  StoveBurner     -0.437         0.924          -2.243         0              0              0
  41  Drawer          -0.500         0.779          -1.450         0              0              0
  42  Drawer          -0.481         0.777          -2.739         0              0              0
  43  Drawer          -1.154         0.782          -3.499         0              0              0
  44  Cabinet         -0.337         2.110          -0.390         0              0              0
  45  Cabinet         -0.337         2.110          -1.272         0              0              0
  46  Cabinet         -0.337         2.110          -1.631         0              0              0
  47  Cabinet         -0.337         2.110          -2.497         0              0              0
  48  Cabinet         -0.337         1.891          -1.286         0              0              0
  49  Cabinet         -0.346         1.891          -3.293         0              0              0
  50  Cabinet         -0.629         0.388          -2.513         0              0              0
  51  Cabinet         -0.633         0.388          -3.008         0              0              0
  52  Cabinet         -1.010         0.388          -3.368         0              0              0
  53  Cabinet         -0.629         0.388          -1.614         0              0              0
  54  Cabinet         -0.327         1.886          -2.513         0              0              0
  55  CounterTop      -0.326         0.976          -1.450         0              0              0
  56  StoveBurner     -0.222         0.924          -2.243         0              0              0
  57  Sink            -0.600         0.929          -3.388         0              0              0
  58  StoveKnob       -0.617         0.899          -1.833         315            90             180
  59  StoveKnob       -0.617         0.899          -2.129         315            90             180
  60  StoveKnob       -0.617         0.899          -2.289         315            90             180
  61  StoveKnob       -0.617         0.899          -1.975         315            90             180
  62  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  63  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  64  Window          -1.389         1.610          -4.113         90             0              0
  65  LightSwitch     -4.372         1.493          -1.031         0              90             0
  66  SinkBasin       -0.614         0.802          -3.384         0              315            0
  67  Fridge          -0.314         0.0            -0.646         0              0              0
  68  Toaster         -1.970         0.930          -3.763         0              0              0
  69  Microwave       -0.216         1.470          -2.054         0              270            0
  70  Blinds          -1.373         2.205          -3.961         0              0              0
  71  Faucet          -0.393         0.930          -3.614         270            225            0
  72  SideTable       -4.030         0.002          -0.301         0              185.034        0
  73  DiningTable     -3.586         0.000          -3.258         0              0              0
  74  DiningTable     -3.224         -0.003         -0.453         0              0              0
  75  Shelf           -4.030         0.259          -0.301         0              185.034        0
  76  Shelf           -4.030         0.489          -0.301         0              185.034        0
  77  EastWall
  78  EastWall
  79  SouthWall

Plan:
STEP 1: turn around to the table | STEP 2: grab the tomato on the table | STEP 3: turn around, walk to the stove | STEP 4: open the microwave above, put the tomato in , cook it for a while, take the tomato out | STEP 5: turn around, walk to the shelf in the corner on the right | STEP 6: put the tomato on the shelf | END