Task: Cook a tomato and put it into the sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          -0.25          0              90             0
   1  Kettle          -0.418         1.329          -1.772         0              180            0              42
   2  Potato          1.601          0.942          0.375          0              0              0              63
   3  DishSponge      0.394          0.108          -1.472         0              180            0              45
   4  Pot             1.007          0.962          0.561          0              270            0              50
   5  Fork            0.035          0.912          0.209          0              0              0              47
   6  Fork            0.551          0.773          0.305          0              0              0              44
   7  Spatula         -2.614         0.967          0.435          0              180            0              81
   8  Cup             -2.065         0.950          0.614          0              90             0              81
   9  Cup             -0.682         0.109          -1.508         0              0              0              62
  10  Knife           -1.791         0.977          0.345          0              90             0              81
  11  SoapBottle      -1.791         0.950          0.165          0              90             0              81
  12  Tomato          -2.397         0.829          -1.849         0              0              0              78
  13  Tomato          0.856          0.968          -1.449         0              270            0              46
  14  Tomato          -0.361         0.119          0.439          0              90             0              77
  15  Mug             0.753          0.914          -1.715         0              90             0              46
  16  Mug             -0.872         1.010          -1.803         0              90             0              70
  17  Apple           -2.203         1.019          0.435          0              90             0              81
  18  Apple           -0.975         1.082          -1.803         0              0              0              70
  19  Bread           1.724          0.995          0.623          0              0              0              63
  20  Knife           0.167          0.937          0.375          0              0              0              47
  21  Fork            -0.082         0.912          -1.820         0              270            0              48
  22  Bowl            -1.959         0.780          -1.720         0              0              0              78
  23  Kettle          1.785          0.913          0.292          0              90             0              63
  24  Cup             0.701          0.917          -1.516         0              270            0              46
  25  Tomato          0.856          0.968          -1.582         0              270            0              46
  26  SoapBottle      -1.928         0.950          0.704          0              90             0              81
  27  Plate           -0.096         0.111          -1.508         0              0              0              57
  28  Pot             1.361          0.962          0.561          0              270            0              53
  29  Spatula         0.167          0.927          0.623          0              0              0              47
  30  PaperTowelRoll  -2.340         1.056          0.524          0              90             0              81
  31  Egg             -1.928         0.987          0.614          0              90             0              81
  32  Lettuce         1.535          1.002          -1.737         0              0              0              48
  33  SaltShaker      1.828          1.325          -1.846         0              180            0              64
  34  PepperShaker    -2.340         0.948          0.614          0              90             0              81
  35  Apple           -2.397         0.578          -1.763         0              0              0              78
  36  ButterKnife     -0.451         0.912          -1.406         0              0              0              48
  37  Potato          1.724          0.942          0.458          0              0              0              63
  38  Pan             1.022          0.959          0.288          0              219.190        0              60
  39  DishSponge      -2.477         0.951          0.704          0              90             0              81
  40  Spoon           0.377          0.777          -1.697         0              270            0              71
  41  Mug             0.618          0.945          0.469          0              180            0              72
  42  Cabinet         -0.193         1.688          -1.648         0              180            0
  43  StoveBurner     1.360          0.957          0.293          0              180            0
  44  Drawer          0.499          0.792          0.296          0              0              0
  45  Cabinet         0.095          0.400          -1.352         0              180            0
  46  Sink            0.711          0.817          -1.772         0              270            0
  47  CounterTop      0.280          0.947          0.458          0              0              0
  48  CounterTop      -0.680         0.947          -1.654         0              0              0
  49  Drawer          1.825          0.792          0.296          0              0              0
  50  StoveBurner     1.007          0.957          0.561          0              270            0
  51  Drawer          -0.150         0.792          -1.496         0              0              0
  52  Drawer          -0.586         0.792          -1.496         0              0              0
  53  StoveBurner     1.360          0.957          0.561          0              270            0
  54  Drawer          0.024          0.792          0.296          0              0              0
  55  Cabinet         1.079          0.400          -1.349         0              180            0
  56  Cabinet         1.669          0.402          0.151          0              0              0
  57  Cabinet         0.055          0.402          -1.351         0              0              0
  58  Cabinet         -0.180         0.402          0.151          0              0              0
  59  Cabinet         0.729          0.402          0.151          0              0              0
  60  StoveBurner     1.007          0.957          0.293          0              180            0
  61  Drawer          -1.100         0.792          -1.496         0              0              0
  62  Cabinet         -0.396         0.402          -1.351         0              0              0
  63  CounterTop      1.776          0.947          0.458          0              0              0
  64  Cabinet         1.974          1.688          -1.648         0              180            0
  65  Cabinet         -0.820         0.400          -1.349         0              180            0
  66  Toaster         0.305          0.900          0.552          0              180            0
  67  LightSwitch     -2.756         1.307          -0.987         0              90             0
  68  Window          0.582          1.613          -1.967         90             0              0
  69  Window          1.969          1.5            -0.615         90             270            0
  70  Microwave       -1.037         0.900          -1.723         0              0              0
  71  SinkBasin       0.377          0.765          -1.655         0              270            0
  72  CoffeeMachine   0.618          0.900          0.600          0              180            0
  73  StoveKnob       1.246          0.913          0.118          45             180            0
  74  StoveKnob       1.373          0.913          0.118          45             180            0
  75  StoveKnob       0.995          0.913          0.118          45             180            0
  76  StoveKnob       1.126          0.913          0.118          45             180            0
  77  GarbageCan      -0.368         -0.029         0.539          0              90             0
  78  Fridge          -2.134         0.0            -1.690         0              0              0
  79  Faucet          0.549          1.046          -1.833         0              232.527        0
  80  Stool           -1.475         0.000          0.414          1.233          280.375        0
  81  DiningTable     -2.255         -0.004         0.432          0              0              0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn around, go forward, turn left at the sink | STEP 2: Pick up the tomato on the sink | STEP 3: Turn right, go forward, turn left in front of the microwave | STEP 4: Put the tomato into the microwave, start the microwave, wait, pick up the tomato | STEP 5: Turn left, go forward, turn left at the sink | STEP 6: Put the tomato into the sink | END