Task: Put a heated tomato in 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           0.5            0.900          1.25           0              90             0
   1  Pan             1.559          0.988          4.294          0              0              0              61
   2  Potato          2.137          1.550          5.751          0              270            0              85
   3  Potato          -0.288         0.794          6.172          0              225            0              99
   4  ButterKnife     0.102          0.760          6.305          0              135            0              99
   5  ButterKnife     0.192          0.771          0.507          0              0              0              60
   6  Kettle          0.125          0.761          6.851          0              225            0              99
   7  Pot             1.317          0.988          4.294          0              0              0              58
   8  Spoon           -0.549         0.773          0.451          0              0              0              59
   9  Spatula         1.442          0.905          2.239          0              0              0              86
  10  Spatula         -0.034         0.775          6.323          0              90             0              99
  11  Fork            -0.292         0.760          6.347          0              225            0              99
  12  Cup             -0.421         0.756          6.305          0              225            0              99
  13  Cup             1.155          0.136          1.864          0              0              0              52
  14  Plate           1.406          0.141          2.086          0              0              0              52
  15  Tomato          -0.459         1.042          0.578          0              0              0              63
  16  Tomato          2.094          1.565          6.001          0              270            0              85
  17  Tomato          2.051          1.565          5.876          0              270            0              85
  18  SoapBottle      1.155          0.140          2.867          0              180            0              75
  19  SoapBottle      0.305          0.760          6.479          0              270            0              99
  20  Bowl            1.406          0.139          3.291          0              0              0              74
  21  Bowl            1.490          0.139          2.794          0              0              0              75
  22  PepperShaker    0.683          1.574          0.119          0              0              0              77
  23  SaltShaker      0.028          0.755          6.632          0              0              0              99
  24  Lettuce         -0.535         1.081          0.303          0              0              0              63
  25  Mug             -0.621         0.755          6.604          0              270            0              99
  26  Apple           0.081          0.834          6.503          0              135            0              99
  27  Apple           2.094          1.590          5.251          0              270            0              85
  28  Bowl            -0.159         0.759          6.787          0              0              0              99
  29  Bread           -0.467         0.829          6.541          0              270            0              99
  30  Egg             2.009          1.565          5.376          0              270            0              85
  31  Knife           1.493          1.022          0.440          0              0              0              63
  32  Fork            0.056          0.772          0.396          0              90             0              60
  33  Apple           -0.762         1.067          0.395          0              0              0              63
  34  Kettle          0.958          1.580          0.295          0              0              0              70
  35  Plate           1.225          0.993          0.440          0              0              0              63
  36  SaltShaker      0.771          0.987          0.670          0              0              0              63
  37  Lettuce         1.449          0.932          2.050          0              0              0              86
  38  SoapBottle      -0.074         1.579          0.251          0              0              0              76
  39  Spatula         0.532          0.787          0.619          0              270            0              55
  40  PaperTowelRoll  -0.034         0.864          6.169          0              0              0              99
  41  Pot             1.32           0.988          3.848          0              0              0              62
  42  Potato          0.923          1.027          0.670          0              0              0              63
  43  ButterKnife     1.493          0.992          1.577          0              0              0              63
  44  PepperShaker    1.493          0.987          0.668          0              0              0              63
  45  Pan             1.313          0.985          4.284          0              0              0              58
  46  Tomato          1.442          0.940          2.525          0              90             0              86
  47  DishSponge      1.406          0.140          1.864          0              0              0              75
  48  Cup             -0.687         0.988          0.120          0              0              0              63
  49  Spoon           1.349          0.771          4.680          0              0              0              53
  50  Mug             2.009          1.510          5.626          0              270            0              85
  51  Cabinet         1.307          2.455          4.360          0              0              0
  52  Cabinet         1.054          0.422          1.710          0              0              0
  53  Drawer          1.280          0.808          4.718          0              0              0
  54  Cabinet         1.307          2.455          3.607          0              0              0
  55  Drawer          0.736          0.802          0.521          0              0              0
  56  Drawer          1.276          0.802          3.291          0              0              0
  57  StoveBurner     1.562          0.982          3.848          0              0              0
  58  StoveBurner     1.317          0.982          4.294          0              0              0
  59  Drawer          -0.482         0.802          0.521          0              0              0
  60  Drawer          0.124          0.802          0.521          0              0              0
  61  StoveBurner     1.559          0.982          4.294          0              0              0
  62  StoveBurner     1.320          0.982          3.848          0              0              0
  63  CounterTop      1.391          1.028          0.897          0              0              0
  64  CounterTop      1.391          1.028          4.716          0              0              0
  65  Cabinet         1.054          0.422          4.548          0              0              0
  66  Cabinet         1.317          2.134          0.517          0              0              0
  67  Cabinet         1.317          2.134          4.889          0              0              0
  68  Cabinet         1.317          2.134          3.095          0              0              0
  69  Cabinet         0.443          0.422          0.743          0              0              0
  70  Cabinet         1.270          2.134          0.434          0              0              0
  71  Cabinet         -0.775         0.422          0.743          0              0              0
  72  Cabinet         -0.168         0.422          0.743          0              0              0
  73  Cabinet         1.317          2.134          1.534          0              0              0
  74  Cabinet         1.054          0.422          2.990          0              0              0
  75  Cabinet         1.054          0.422          2.944          0              0              0
  76  Cabinet         -0.263         2.134          0.434          0              0              0
  77  Cabinet         0.252          2.134          0.434          0              0              0
  78  Sink            1.391          1.006          2.326          0              0              0
  79  Microwave       0.108          0.981          0.262          0              0              0
  80  HousePlant      -0.165         0.826          6.444          0              0              0
  81  CoffeeMachine   1.551          0.982          0.953          0              270            0
  82  Toaster         1.473          0.981          4.715          0              270            0
  83  Window          -2.065         1.916          3.626          90             90             0
  84  Window          1.763          2.007          2.299          90             270            0
  85  Fridge          2.035          0.0            5.625          0              0              0
  86  SinkBasin       1.387          0.880          2.338          0              90             0
  87  GarbageCan      2.001          -0.044         6.503          0              0              0
  88  StoveKnob       1.140          0.934          3.987          45             270            0
  89  StoveKnob       1.140          0.934          4.309          45             270            0
  90  StoveKnob       1.140          0.934          4.140          45             270            0
  91  StoveKnob       1.140          0.934          3.824          45             270            0
  92  Vase            -0.226         0.834          6.993          0              0              0
  93  Vase            2.098          0.043          7.070          0              257.232        0
  94  Vase            -0.594         0.835          6.130          0              225            0
  95  LightSwitch     -2.0           1.549          6.045          0              90             0
  96  Safe            2.046          1.072          7.054          0              257.232        0
  97  Faucet          1.534          1.025          2.371          0              294.391        0
  98  Blinds          1.738          2.563          2.312          0              90             0
  99  DiningTable     -0.156         0.000          6.474          0              0              0
 100  Chair           0.291          0.002          6.142          0              310.162        0
 101  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn left, move to the sink, turn right | STEP 2: Pick up the tomato in the left sink | STEP 3: Turn around, move forward to the microwave on the left, turn left, move to the counter | STEP 4: Open the microwave, put the tomato inside, close the door, turn on the microwave for two seconds, open the door, pick up the tomato, close the door | STEP 5: Turn around, move to the table, turn right, move to the fridge | STEP 6: Open the fridge, put the tomato on the top right shelf, close the fridge | END