Task: Microwave the tomato and put it in 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           -0.25          0.900          -0.5           0              0              0
   1  Kettle          1.007          0.962          0.561          0              270            0              43
   2  ButterKnife     -2.203         0.952          0.524          0              90             0              74
   3  Cup             1.907          0.910          0.209          0              0              0              56
   4  Knife           -1.928         0.977          0.435          0              90             0              74
   5  Knife           1.289          0.937          -1.737         0              180            0              41
   6  SoapBottle      1.601          0.910          0.292          0              0              0              56
   7  PepperShaker    -0.096         0.908          0.375          0              0              0              40
   8  Bread           1.658          0.995          -1.489         0              0              0              41
   9  Lettuce         1.785          1.002          0.375          0              0              0              56
  10  Apple           -1.928         1.019          0.165          0              90             0              74
  11  Apple           -2.31          0.578          -1.763         0              0              0              71
  12  Bread           -2.065         1.035          0.345          0              90             0              74
  13  Knife           0.035          0.937          0.375          0              180            0              40
  14  Fork            1.663          0.912          0.209          0              180            0              56
  15  Bowl            0.271          0.108          -1.472         0              180            0              38
  16  Kettle          -2.065         0.953          0.524          0              90             0              74
  17  Cup             0.504          0.108          0.233          0              0              0              52
  18  Tomato          -2.31          1.100          -1.806         0              0              0              71
  19  SoapBottle      -0.361         0.068          0.439          0              90             0              70
  20  Plate           -0.198         0.111          -1.508         0              0              0              50
  21  Pot             1.361          0.962          0.561          0              270            0              46
  22  Spatula         0.960          0.934          -1.582         0              270            0              39
  23  PaperTowelRoll  -2.477         1.056          0.704          0              90             0              74
  24  Egg             -2.340         0.987          0.704          0              90             0              74
  25  Lettuce         0.851          1.001          -1.537         0              231.490        0              39
  26  SaltShaker      0.035          0.908          0.623          0              0              0              40
  27  PepperShaker    -2.614         0.948          0.614          0              90             0              74
  28  Apple           0.300          0.979          0.292          0              0              0              40
  29  ButterKnife     -2.477         0.952          0.345          0              90             0              74
  30  Potato          -0.872         1.045          -1.770         0              0              0              63
  31  Pan             1.022          0.959          0.288          0              219.190        0              53
  32  DishSponge      -2.614         0.951          0.345          0              90             0              74
  33  Spoon           1.535          0.913          -1.406         0              0              0              41
  34  Mug             -2.203         0.947          0.165          0              90             0              74
  35  Cabinet         -0.193         1.688          -1.648         0              180            0
  36  StoveBurner     1.360          0.957          0.293          0              180            0
  37  Drawer          0.499          0.792          0.296          0              0              0
  38  Cabinet         0.095          0.400          -1.352         0              180            0
  39  Sink            0.711          0.817          -1.772         0              270            0
  40  CounterTop      0.280          0.947          0.458          0              0              0
  41  CounterTop      -0.680         0.947          -1.654         0              0              0
  42  Drawer          1.825          0.792          0.296          0              0              0
  43  StoveBurner     1.007          0.957          0.561          0              270            0
  44  Drawer          -0.150         0.792          -1.496         0              0              0
  45  Drawer          -0.586         0.792          -1.496         0              0              0
  46  StoveBurner     1.360          0.957          0.561          0              270            0
  47  Drawer          0.024          0.792          0.296          0              0              0
  48  Cabinet         1.079          0.400          -1.349         0              180            0
  49  Cabinet         1.669          0.402          0.151          0              0              0
  50  Cabinet         0.055          0.402          -1.351         0              0              0
  51  Cabinet         -0.180         0.402          0.151          0              0              0
  52  Cabinet         0.729          0.402          0.151          0              0              0
  53  StoveBurner     1.007          0.957          0.293          0              180            0
  54  Drawer          -1.100         0.792          -1.496         0              0              0
  55  Cabinet         -0.396         0.402          -1.351         0              0              0
  56  CounterTop      1.776          0.947          0.458          0              0              0
  57  Cabinet         1.974          1.688          -1.648         0              180            0
  58  Cabinet         -0.820         0.400          -1.349         0              180            0
  59  Toaster         0.305          0.900          0.552          0              180            0
  60  LightSwitch     -2.756         1.307          -0.987         0              90             0
  61  Window          0.582          1.613          -1.967         90             0              0
  62  Window          1.969          1.5            -0.615         90             270            0
  63  Microwave       -1.037         0.900          -1.723         0              0              0
  64  SinkBasin       0.377          0.765          -1.655         0              270            0
  65  CoffeeMachine   0.618          0.900          0.600          0              180            0
  66  StoveKnob       1.246          0.913          0.118          45             180            0
  67  StoveKnob       1.373          0.913          0.118          45             180            0
  68  StoveKnob       0.995          0.913          0.118          45             180            0
  69  StoveKnob       1.126          0.913          0.118          45             180            0
  70  GarbageCan      -0.368         -0.029         0.539          0              90             0
  71  Fridge          -2.134         0.0            -1.690         0              0              0
  72  Faucet          0.549          1.046          -1.833         0              232.527        0
  73  Stool           -1.475         0.000          0.414          1.233          280.375        0
  74  DiningTable     -2.255         -0.004         0.432          0              0              0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: Go left to the refrigerator on the left | STEP 2: Open the door and take the tomato from the top shelf | STEP 3: Turn left and go to the microwave | STEP 4: Open the microwave, place the tomato in the center, close the door then open it and take the tomato out of the microwave | STEP 5: Turn left and go the the sink on the right | STEP 6: Place the tomato in the sink on the right | END