Task: Put a heated tomato on the table in front of the coffee machine.

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          2.0            0              180            0
   1  DishSponge      -2.541         1.634          3.097          0              0              0              67
   2  ButterKnife     -0.524         0.900          1.040          0              90             0              89
   3  Spatula         -0.524         0.915          1.349          0              90             0              89
   4  Spoon           -1.309         0.698          3.774          0              0              0              83
   5  Spoon           -2.030         0.700          3.632          0              90             0              60
   6  Fork            0.725          0.813          0.984          0              0              0              48
   7  Egg             -2.461         1.227          2.389          0              90             0              80
   8  Egg             -1.694         1.395          3.967          0              180            0              77
   9  Cup             -1.964         0.822          4.012          0              0              0              71
  10  SoapBottle      -0.789         0.900          1.555          0              90             0              89
  11  SoapBottle      -2.478         0.157          1.295          0              0              0              56
  12  Tomato          -2.707         0.891          3.479          0              0              0              71
  13  Tomato          1.024          0.891          2.458          0              0              0              53
  14  Tomato          -1.185         0.969          1.555          0              90             0              89
  15  Bowl            0.800          0.821          2.285          0              0              0              63
  16  Bowl            -2.461         0.993          2.277          0              270            0              80
  17  Mug             1.024          0.818          0.984          0              180            0              48
  18  Mug             -2.581         1.844          2.398          0              0              0              80
  19  Apple           -2.612         1.668          2.333          0              90             0              80
  20  Plate           0.860          0.812          0.976          0              0              0              48
  21  Fork            0.737          0.692          2.235          0              270            0              42
  22  Bread           -2.577         0.820          2.333          0              90             0              80
  23  Spatula         -1.317         0.915          1.349          0              90             0              89
  24  PaperTowelRoll  -0.921         1.004          1.555          0              90             0              89
  25  Potato          -1.642         1.402          3.836          0              180            0              77
  26  SoapBottle      -1.359         1.683          3.897          0              0              0              76
  27  Egg             0.650          0.859          2.631          0              0              0              53
  28  Cup             -0.657         0.900          1.555          0              90             0              89
  29  Pot             0.642          0.850          1.375          0              0              0              65
  30  SaltShaker      -0.657         0.896          1.452          0              90             0              89
  31  Pan             -2.667         0.812          3.74           0              137.145        0              71
  32  PepperShaker    -0.921         0.896          1.246          0              90             0              89
  33  ButterKnife     -2.172         0.812          3.552          0              0              0              71
  34  Tomato          -0.524         0.969          1.555          0              90             0              89
  35  DishSponge      -0.657         0.900          1.246          0              90             0              89
  36  Lettuce         0.875          0.898          2.545          0              0              0              53
  37  Spoon           -0.657         0.901          1.143          0              180            0              89
  38  Apple           -1.317         0.961          1.040          0              90             0              89
  39  Knife           -1.053         0.923          1.452          0              180            0              89
  40  Mug             -2.636         1.185          2.446          0              180            0              80
  41  Bowl            -0.524         0.898          1.246          0              90             0              89
  42  Drawer          0.729          0.703          2.199          0              0              0
  43  Cabinet         -1.962         1.926          3.733          0              0              0
  44  Cabinet         -2.377         2.014          1.058          0              0              0
  45  Drawer          0.729          0.703          2.532          0              0              0
  46  Cabinet         -2.622         1.925          3.733          0              0              0
  47  StoveBurner     0.913          0.843          1.375          0              0              0
  48  CounterTop      0.864          0.858          0.984          0              0              0
  49  Cabinet         -1.976         1.779          3.734          0              0              0
  50  Cabinet         0.580          0.385          0.819          0              0              0
  51  Cabinet         -2.379         1.408          1.677          0              0              0
  52  Cabinet         -0.419         1.703          3.736          0              0              0
  53  CounterTop      0.864          0.858          2.371          0              0              0
  54  Sink            -1.702         0.726          3.828          0              180            0
  55  Cabinet         0.580          0.385          2.694          0              0              0
  56  Cabinet         -2.379         0.637          1.677          0              0              0
  57  Cabinet         -0.419         0.674          3.736          0              0              0
  58  Cabinet         -2.377         2.014          2.558          0              0              0
  59  Drawer          0.729          0.703          0.980          0              0              0
  60  Drawer          -2.114         0.706          3.657          0              0              0
  61  Cabinet         -2.377         1.691          2.572          0              0              0
  62  Cabinet         -2.951         1.925          3.733          0              0              0
  63  Cabinet         0.580          0.385          2.360          0              0              0
  64  Cabinet         -2.426         0.435          3.421          0              0              0
  65  StoveBurner     0.642          0.843          1.375          0              0              0
  66  Cabinet         -2.377         1.927          1.686          0              0              0
  67  Cabinet         -2.377         2.013          3.177          0              0              0
  68  Cabinet         -1.136         0.385          3.516          0              0              0
  69  StoveBurner     0.913          0.843          1.768          0              0              0
  70  Cabinet         -1.974         0.385          3.516          0              0              0
  71  CounterTop      -2.081         0.858          3.799          0              0              0
  72  Cabinet         -2.426         0.435          3.174          0              0              0
  73  Cabinet         -2.377         2.014          1.693          0              0              0
  74  Cabinet         -1.986         0.385          3.511          0              0              0
  75  StoveBurner     0.642          0.843          1.768          0              0              0
  76  Cabinet         -1.098         1.926          3.729          0              0              0
  77  Microwave       -1.529         1.250          3.881          1.622          180            0
  78  CoffeeMachine   1.000          0.812          2.492          0              270            0
  79  LightSwitch     0.825          1.396          4.082          0              180            0
  80  Fridge          -2.642         0.0            2.134          0              180            0
  81  Window          -1.131         1.673          0.808          90             0              0
  82  GarbageCan      0.931          -0.000         2.918          0              0              0
  83  SinkBasin       -1.601         0.686          3.774          0              0              0
  84  StoveKnob       1.104          1.002          1.886          0              0              70.346
  85  StoveKnob       1.104          1.002          1.733          0              0              70.346
  86  StoveKnob       1.104          1.002          1.321          0              0              70.346
  87  StoveKnob       1.104          1.002          1.481          0              0              70.346
  88  Toaster         -2.247         0.812          3.862          0              180            0
  89  DiningTable     -0.917         -0.000         1.203          0              0              0
  90  Stool           -0.932         0.000          1.404          1.196          21.715         0
  91  Faucet          -1.842         0.809          3.984          0              180            0
  92  Faucet          -1.371         0.809          3.985          0              180            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn to the left, move towards the fridge, turn left and face the tomato on the table.  | STEP 2: Pick up the tomato on the table.  | STEP 3: Turn around and bring the tomato to the microwave.  | STEP 4: Heat the tomato in the microwave.  | STEP 5: Take the heated tomato from the microwave, turn around, bring the heated tomato back to the table with the coffee machine.  | STEP 6: Put the heated tomato on the table | END