Task: cook a tomato then put it away inside the fridge

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.900          1.75           0              180            0
   1  Pan             0.974          0.957          -1.419         0              180            0              75
   2  Vase            3.689          0.882          1.861          0              270            0              78
   3  Potato          1.578          0.946          -1.437         0              0              0              77
   4  Book            -1.649         0.116          -0.841         0              0              0              62
   5  Book            0.093          0.111          -1.415         0              0              0              65
   6  DishSponge      3.793          0.552          1.553          0              270            0              80
   7  DishSponge      -2.013         0.119          -1.580         0              0              0              62
   8  Spatula         0.234          0.943          -1.356         0              0              0              54
   9  Fork            -2.148         0.719          -1.510         0              90             0              76
  10  Spoon           0.599          0.719          -1.443         0              90             0              74
  11  Egg             -0.263         1.169          2.167          0              180            0              82
  12  Egg             -0.149         0.414          2.054          0              180            0              82
  13  Cup             -0.034         1.142          2.206          0              180            0              82
  14  Plate           0.193          0.807          2.023          0              180            0              82
  15  Plate           0.549          0.120          -1.445         0              0              0              64
  16  Knife           -2.659         0.896          2.715          0              0              0              59
  17  Knife           0.234          0.950          -1.573         0              270            0              54
  18  SoapBottle      -2.964         0.879          3.632          0              135            0              59
  19  Tomato          0.193          0.436          2.054          0              180            0              82
  20  PepperShaker    -3.002         0.871          3.088          0              225            0              59
  21  Bread           -2.510         0.961          3.559          0              0              0              59
  22  Lettuce         -2.807         0.943          2.715          0              0              0              59
  23  Mug             -0.263         1.567          2.279          0              180            0              82
  24  Apple           -2.382         0.933          3.183          0              225            0              59
  25  Book            -1.961         0.908          0.037          0              0              0              57
  26  Fork            -1.738         0.912          -0.288         0              0              0              57
  27  Tomato          -3.165         0.925          3.221          0              270            0              59
  28  Egg             -0.035         0.414          2.025          0              180            0              82
  29  Kettle          1.328          0.957          -1.688         0              180            0              60
  30  Vase            -0.292         0.122          -1.413         0              0              0              66
  31  Cup             1.614          0.908          -1.255         0              0              0              77
  32  WineBottle      -1.110         1.655          -1.674         0              0              0              69
  33  Plate           -0.263         0.807          2.194          0              180            0              82
  34  Spatula         -1.583         0.732          -0.788         0              270            0              72
  35  Potato          -2.554         0.911          3.326          0              135            0              59
  36  Pot             -1.738         0.914          0.363          0              0              0              57
  37  Knife           -1.748         0.741          -1.001         0              90             0              72
  38  SaltShaker      -2.726         0.871          3.393          0              135            0              59
  39  PepperShaker    1.651          0.906          -1.346         0              0              0              77
  40  Lettuce         -2.152         0.943          3.147          0              270            0              59
  41  ButterKnife     0.069          0.930          -1.646         0              270            0              54
  42  Bread           -1.601         0.980          -0.837         0              334.888        0              57
  43  Vase            -2.072         0.913          -0.939         0              0              0              57
  44  DishSponge      -2.001         1.657          -1.747         0              0              0              53
  45  Apple           -0.844         0.247          2.058          0              90             0              87
  46  Pan             0.079          1.571          2.160          0              180            0              82
  47  Spoon           -0.330         0.698          -1.468         0              270            0              86
  48  SoapBottle      -1.849         0.912          -0.939         0              0              0              57
  49  Mug             -1.627         0.907          -1.591         0              0              0              57
  50  Statue          3.586          0.560          1.656          0              270            0              80
  51  Statue          -2.621         0.873          2.945          0              315            0              59
  52  Bowl            -2.152         0.876          3.370          0              270            0              59
  53  Cabinet         -2.171         2.009          -1.538         0              0              0
  54  Sink            0.024          0.771          -1.708         0              270            0
  55  Cabinet         1.444          2.259          -1.542         0              0              0
  56  StoveBurner     0.974          0.957          -1.688         0              180            0
  57  CounterTop      -1.866         0.947          -0.614         0              0              0
  58  Cabinet         -2.217         0.373          -1.874         0              0              0
  59  DiningTable     -2.663         0.002          3.208          0              0              0
  60  StoveBurner     1.328          0.957          -1.688         0              180            0
  61  StoveBurner     1.328          0.957          -1.420         0              180            0
  62  Cabinet         -1.478         0.373          -1.235         0              0              0
  63  Cabinet         1.775          0.372          -1.242         0              0              0
  64  Cabinet         0.774          0.372          -1.242         0              0              0
  65  Cabinet         0.375          0.372          -1.242         0              0              0
  66  Cabinet         -0.574         0.372          -1.238         0              0              0
  67  Cabinet         1.775          2.009          -1.542         0              0              0
  68  Cabinet         0.524          2.009          -1.542         0              0              0
  69  Cabinet         -0.714         2.009          -1.542         0              0              0
  70  Cabinet         -1.671         2.009          -1.538         0              0              0
  71  Cabinet         0.854          2.259          -1.542         0              0              0
  72  Drawer          -1.636         0.683          -0.930         0              0              0
  73  Drawer          1.650          0.682          -1.396         0              0              0
  74  Drawer          0.600          0.682          -1.396         0              0              0
  75  StoveBurner     0.974          0.957          -1.419         0              180            0
  76  Drawer          -2.062         0.683          -1.579         0              0              0
  77  CounterTop      1.645          0.945          -1.527         0              0              0
  78  Shelf           3.725          0.880          1.671          0              90             0
  79  LightSwitch     2.830          1.266          -0.748         0              0              0
  80  Shelf           3.726          0.552          1.671          0              90             0
  81  Microwave       1.150          1.655          -1.614         0              0              0
  82  Fridge          -0.035         0.0            2.177          0              180            0
  83  Window          -0.115         1.802          -1.896         90             0              0
  84  Window          -4.009         1.799          0.310          90             90             0
  85  Shelf           3.726          0.172          1.671          0              90             0
  86  SinkBasin       -0.330         0.686          -1.581         0              270            0
  87  GarbageCan      -0.870         -0.001         2.136          0              90             0
  88  StoveKnob       1.089          0.913          -1.243         45             0              0
  89  StoveKnob       1.208          0.913          -1.243         45             0              0
  90  StoveKnob       1.340          0.913          -1.243         45             0              0
  91  StoveKnob       0.961          0.913          -1.243         45             0              0
  92  Toaster         1.637          0.900          -1.673         0              0              0
  93  Chair           -3.505         0.002          3.290          0              105.736        0
  94  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  95  HousePlant      -2.663         0.835          3.209          0              0              0
  96  Faucet          -0.187         0.922          -1.75          0              311.166        0
  97  ShelvingUnit    3.726          0.006          1.671          0              90             0
  98  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  99  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 100  Chair           -2.934         0.002          2.437          0              28.531         0
 101  Chair           -1.698         0.002          3.235          0              245.204        0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: walk straight and turn left then walk straight to the fridge and turn left | STEP 2: open the fridge and take the tomato out and close the door | STEP 3: turn right then walk straight then turn right and walk straight towards the stove and look up | STEP 4: put the tomato into the microwave and close the door then start the timer and open the door take the tomato out and close the door | STEP 5: turn right then walk straight then turn right again and walk straight towards the fridge | STEP 6: open the fridge and put the tomato inside then close the door | END