Task: Cool a tomato and put it in 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           -0.75          0.899          0.25           0              90             0
   1  Pan             -3.859         0.923          1.951          0              90             0              47
   2  ButterKnife     -0.334         0.925          5.603          0              0              0              57
   3  WineBottle      -4.411         0.924          3.863          0              90             0              72
   4  Fork            -4.132         0.754          2.590          0              0              0              52
   5  Fork            -0.258         0.925          4.944          0              0              0              57
   6  Spatula         -4.016         0.770          2.235          0              90             0              52
   7  Cup             -1.777         0.922          1.724          0              0              0              54
   8  Cup             -1.943         0.922          1.951          0              0              0              54
   9  Egg             -4.308         0.826          3.472          0              270            0              104
  10  Egg             -4.308         0.826          3.285          0              270            0              104
  11  SoapBottle      -1.905         1.452          1.605          0              0              0              91
  12  Tomato          -0.488         0.982          5.273          0              0              0              57
  13  Tomato          -4.26          0.980          4.900          0              90             0              72
  14  Tomato          -4.102         0.980          2.300          0              0              0              72
  15  Bowl            -1.943         0.920          1.648          0              0              0              54
  16  SaltShaker      -3.531         0.078          1.850          0              0              0              47
  17  SaltShaker      -4.036         0.741          4.510          0              90             0              79
  18  PepperShaker    -1.943         0.919          1.8            0              0              0              54
  19  PepperShaker    -0.532         0.743          4.849          0              270            0              62
  20  Mug             -4.159         0.785          3.410          0              270            0              104
  21  Mug             -0.409         0.955          6.557          0              270            0              93
  22  Egg             -4.411         0.959          5.159          0              90             0              72
  23  Apple           -4.196         0.844          3.097          0              270            0              104
  24  Knife           -1.777         0.953          2.026          0              0              0              54
  25  Potato          -4.26          0.956          5.159          0              90             0              72
  26  Fork            -1.860         0.924          1.951          0              90             0              54
  27  Bowl            -0.258         0.922          4.615          0              0              0              57
  28  Plate           -4.132         0.078          2.286          0              0              0              82
  29  Lettuce         -3.613         1.018          5.489          0              90             0              72
  30  Bread           -4.234         0.990          3.985          0              0              0              72
  31  Tomato          -3.712         0.125          6.457          0              270            0              98
  32  WineBottle      -3.748         0.069          6.333          0              270            0              98
  33  Spatula         -1.693         0.938          1.8            0              90             0              54
  34  PaperTowelRoll  -1.610         1.027          1.573          0              0              0              54
  35  Cup             -0.181         0.923          4.944          0              0              0              57
  36  Pencil          -0.488         0.925          6.261          0              0              0              57
  37  Pan             -2.924         0.930          2.012          0              0              0              55
  38  Pot             -2.924         0.930          1.712          0              180            0              69
  39  SaltShaker      -0.181         0.921          5.273          0              0              0              51
  40  SoapBottle      -0.565         0.924          4.944          0              0              0              57
  41  PepperShaker    -3.830         0.743          5.133          0              180            0              75
  42  ButterKnife     -4.312         0.923          2.766          0              0              0              72
  43  DishSponge      -4.028         1.455          1.735          0              45             0              73
  44  Spoon           -4.517         0.924          3.432          0              90             0              72
  45  Mug             -4.196         0.785          3.222          0              270            0              104
  46  Cabinet         -3.203         1.931          1.777          0              0              0
  47  Cabinet         -3.187         0.390          2.089          0              0              0
  48  Cabinet         -0.637         0.387          6.882          0              180            0
  49  Drawer          -3.797         0.781          1.961          0              0              0
  50  Cabinet         -3.036         0.387          5.029          0              90             0
  51  Drawer          -0.509         0.775          5.268          0              270            0
  52  Drawer          -4.125         0.798          2.499          0              0              0
  53  Cabinet         -0.331         2.249          4.308          0              180            0
  54  CounterTop      -1.872         0.958          1.799          0              0              0
  55  StoveBurner     -2.924         0.924          2.012          0              0              0
  56  Cabinet         -0.331         2.249          6.806          0              180            0
  57  CounterTop      -0.345         0.960          5.603          0              0              0
  58  Cabinet         -3.039         1.935          5.321          0              90             0
  59  Cabinet         -3.922         0.397          2.088          0              0              0
  60  StoveBurner     -2.467         0.924          2.012          0              0              0
  61  Cabinet         -0.331         2.249          5.505          0              180            0
  62  Drawer          -0.509         0.775          4.617          0              270            0
  63  Drawer          -3.509         0.777          5.157          0              180            0
  64  Cabinet         -3.961         0.388          2.878          0              0              0
  65  Cabinet         -3.961         0.388          4.342          0              0              0
  66  Cabinet         -0.637         0.387          5.582          0              180            0
  67  Cabinet         -0.637         0.388          4.299          0              180            0
  68  Cabinet         -0.637         0.388          5.599          0              180            0
  69  StoveBurner     -2.924         0.924          1.712          0              180            0
  70  Drawer          -1.859         0.775          1.961          0              0              0
  71  Cabinet         -0.331         2.249          5.609          0              180            0
  72  CounterTop      -4.260         0.958          4.943          0              90             0
  73  Cabinet         -4.284         1.931          2.226          0              0              0
  74  Cabinet         -0.331         2.249          3.010          0              180            0
  75  Drawer          -3.801         0.777          5.157          0              180            0
  76  Cabinet         -4.112         1.935          5.321          0              90             0
  77  Cabinet         -3.968         0.388          3.662          0              0              0
  78  Drawer          -3.418         0.777          1.961          0              0              0
  79  Drawer          -4.090         0.777          4.661          0              90             0
  80  Faucet          -4.441         0.909          3.288          270            0              0
  81  Cabinet         -0.331         2.249          4.207          0              180            0
  82  Cabinet         -3.961         0.388          2.119          0              0              0
  83  Drawer          -0.509         0.775          5.920          0              270            0
  84  Drawer          -3.193         0.777          5.157          0              180            0
  85  Cabinet         -3.968         0.388          2.894          0              0              0
  86  Cabinet         -3.667         0.387          5.029          0              90             0
  87  StoveBurner     -2.469         0.924          1.712          0              270            0
  88  Cabinet         -1.539         0.388          2.090          0              0              0
  89  Sink            -4.190         0.921          3.279          0              0              0
  90  Cabinet         -3.641         0.387          5.029          0              90             0
  91  Cabinet         -1.583         1.931          1.777          0              0              0
  92  Drawer          -0.509         0.775          6.568          0              270            0
  93  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  94  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  96  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  97  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  98  GarbageCan      -3.711         -0.030         6.376          0              270            0
  99  Toaster         -3.578         0.912          1.763          0              0              0
 100  Curtains        -4.522         2.252          3.391          90             90             0
 101  Window          -4.868         1.629          3.309          90             270            0
 102  Microwave       -2.693         1.430          1.689          0              0              0
 103  LightSwitch     -1.588         1.169          1.506          0              0              0
 104  SinkBasin       -4.196         0.780          3.276          0              270            0
 105  Fridge          -0.324         -0.001         3.602          0              0              0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn left, go forward, turn left and go to the counter | STEP 2: Pick up the tomato on the counter | STEP 3: Turn right, go forward a bit, turn right and go to the fridge | STEP 4: Put the tomato in the fridge, wait, pick up the tomato | STEP 5: Turn around, go forward a bit, turn left and go to the microwave | STEP 6: Put the tomato in the microwave | END