Task: put a chilled tomato into a microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          5.75           0              90             0
   1  Potato          -0.621         0.794          6.666          0              270            0              103
   2  Potato          1.276          0.925          2.474          0              180            0              90
   3  DishSponge      -0.013         1.579          0.251          0              0              0              80
   4  ButterKnife     1.349          0.771          4.717          0              180            0              57
   5  Kettle          0.622          1.580          0.295          0              0              0              74
   6  Kettle          -0.288         0.761          6.172          0              225            0              103
   7  Pot             1.317          0.988          4.294          0              0              0              62
   8  Spoon           0.124          0.772          0.396          0              0              0              64
   9  Spatula         -0.413         0.786          0.507          0              0              0              63
  10  Fork            0.668          0.772          0.619          0              270            0              59
  11  Egg             -0.530         0.810          6.196          0              225            0              103
  12  Egg             -0.269         0.810          6.588          0              135            0              103
  13  Cup             1.155          0.136          2.424          0              0              0              79
  14  Cup             -0.466         0.756          6.609          0              135            0              103
  15  Plate           1.322          0.141          1.938          0              0              0              56
  16  Knife           1.292          0.801          3.291          0              0              0              60
  17  Tomato          1.314          1.042          1.577          0              0              0              67
  18  Tomato          0.080          0.809          6.895          0              225            0              103
  19  Tomato          1.332          0.940          1.983          0              90             0              90
  20  SoapBottle      1.359          2.207          4.219          0              90             0              55
  21  SoapBottle      0.999          0.992          0.120          0              0              0              67
  22  Bowl            1.499          1.575          4.754          0              0              0              71
  23  Bowl            1.500          1.576          1.227          0              0              0              77
  24  PepperShaker    1.445          2.202          3.933          0              0              0              71
  25  SaltShaker      1.358          2.202          3.933          0              0              0              58
  26  SaltShaker      -0.003         0.755          6.291          0              90             0              103
  27  Lettuce         0.150          0.848          6.604          0              270            0              103
  28  Mug             -0.003         0.755          6.479          0              270            0              103
  29  Mug             1.543          1.572          1.410          0              0              0              67
  30  Apple           1.135          1.067          4.762          0              0              0              68
  31  Apple           2.055          0.155          6.439          0              0              0              91
  32  Bowl            0.885          0.142          0.260          0              0              0              73
  33  Bread           1.314          1.062          3.417          0              0              0              67
  34  Egg             0.191          0.810          6.393          0              135            0              103
  35  Knife           -0.011         0.801          0.451          0              90             0              64
  36  Fork            1.493          0.993          0.213          0              0              0              67
  37  Apple           2.094          1.590          5.251          0              270            0              89
  38  Kettle          1.593          0.981          3.25           0              255.000        0              67
  39  Plate           1.322          0.141          3.143          0              0              0              78
  40  SaltShaker      0.674          0.138          0.339          0              0              0              73
  41  Lettuce         -0.687         1.081          0.395          0              0              0              67
  42  SoapBottle      -0.034         0.760          6.787          0              0              0              103
  43  Spatula         -0.079         0.786          0.507          0              90             0              64
  44  PaperTowelRoll  -0.762         1.096          0.578          0              0              0              67
  45  Pot             1.559          0.988          4.294          0              0              0              65
  46  Potato          2.009          1.550          5.376          0              270            0              89
  47  ButterKnife     0.305          0.760          6.541          0              270            0              103
  48  PepperShaker    0.169          0.755          6.807          0              225            0              103
  49  Pan             1.313          0.985          4.284          0              0              0              62
  50  Tomato          1.314          1.042          0.668          0              0              0              67
  51  DishSponge      -0.312         0.759          6.416          0              270            0              103
  52  Cup             2.094          1.511          5.501          0              270            0              89
  53  Spoon           1.442          0.891          2.085          0              180            0              90
  54  Mug             1.384          1.043          0.847          0              270            0              67
  55  Cabinet         1.307          2.455          4.360          0              0              0
  56  Cabinet         1.054          0.422          1.710          0              0              0
  57  Drawer          1.280          0.808          4.718          0              0              0
  58  Cabinet         1.307          2.455          3.607          0              0              0
  59  Drawer          0.736          0.802          0.521          0              0              0
  60  Drawer          1.276          0.802          3.291          0              0              0
  61  StoveBurner     1.562          0.982          3.848          0              0              0
  62  StoveBurner     1.317          0.982          4.294          0              0              0
  63  Drawer          -0.482         0.802          0.521          0              0              0
  64  Drawer          0.124          0.802          0.521          0              0              0
  65  StoveBurner     1.559          0.982          4.294          0              0              0
  66  StoveBurner     1.320          0.982          3.848          0              0              0
  67  CounterTop      1.391          1.028          0.897          0              0              0
  68  CounterTop      1.391          1.028          4.716          0              0              0
  69  Cabinet         1.054          0.422          4.548          0              0              0
  70  Cabinet         1.317          2.134          0.517          0              0              0
  71  Cabinet         1.317          2.134          4.889          0              0              0
  72  Cabinet         1.317          2.134          3.095          0              0              0
  73  Cabinet         0.443          0.422          0.743          0              0              0
  74  Cabinet         1.270          2.134          0.434          0              0              0
  75  Cabinet         -0.775         0.422          0.743          0              0              0
  76  Cabinet         -0.168         0.422          0.743          0              0              0
  77  Cabinet         1.317          2.134          1.534          0              0              0
  78  Cabinet         1.054          0.422          2.990          0              0              0
  79  Cabinet         1.054          0.422          2.944          0              0              0
  80  Cabinet         -0.263         2.134          0.434          0              0              0
  81  Cabinet         0.252          2.134          0.434          0              0              0
  82  Sink            1.391          1.006          2.326          0              0              0
  83  Microwave       0.108          0.981          0.262          0              0              0
  84  HousePlant      -0.165         0.826          6.444          0              0              0
  85  CoffeeMachine   1.551          0.982          0.953          0              270            0
  86  Toaster         1.473          0.981          4.715          0              270            0
  87  Window          -2.065         1.916          3.626          90             90             0
  88  Window          1.763          2.007          2.299          90             270            0
  89  Fridge          2.035          0.0            5.625          0              0              0
  90  SinkBasin       1.387          0.880          2.338          0              90             0
  91  GarbageCan      2.001          -0.044         6.503          0              0              0
  92  StoveKnob       1.140          0.934          3.987          45             270            0
  93  StoveKnob       1.140          0.934          4.309          45             270            0
  94  StoveKnob       1.140          0.934          4.140          45             270            0
  95  StoveKnob       1.140          0.934          3.824          45             270            0
  96  Vase            -0.226         0.834          6.993          0              0              0
  97  Vase            2.098          0.043          7.070          0              257.232        0
  98  Vase            -0.594         0.835          6.130          0              225            0
  99  LightSwitch     -2.0           1.549          6.045          0              90             0
 100  Safe            2.046          1.072          7.054          0              257.232        0
 101  Faucet          1.534          1.025          2.371          0              294.391        0
 102  Blinds          1.738          2.563          2.312          0              90             0
 103  DiningTable     -0.156         0.000          6.474          0              0              0
 104  Chair           0.291          0.002          6.142          0              310.162        0
 105  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: turn to walk to face the counter to the right of the sink | STEP 2: pick up tomato from the counter top | STEP 3: walk to face the fridge | STEP 4: chill tomato in fridge, remove tomato from fridge | STEP 5: walk to face microwave | STEP 6: put tomato into the microwave, close the door | END