Task: To heat a tomato and return it to the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.908          2.0            0              270            0
   1  Pan             1.284          0.885          2.369          0              180            0              100
   2  SprayBottle     0.951          0.885          2.477          0              0              0              100
   3  Potato          -1.206         1.333          1.092          0              90             0              88
   4  ButterKnife     1.365          0.911          0.706          0              0              0              68
   5  Glassbottle     1.388          1.661          0.135          0              0              0              50
   6  Glassbottle     -1.475         0.749          1.902          0              0              0              49
   7  WineBottle      -0.813         0.913          -0.430         0              0              0              74
   8  WineBottle      -0.813         0.913          -0.907         0              0              0              74
   9  Spoon           -1.012         0.750          2.087          0              0              0              49
  10  Fork            -1.197         0.750          2.830          0              0              0              49
  11  Spatula         -0.020         0.773          -0.612         0              0              0              95
  12  Spatula         1.367          0.901          2.261          0              0              0              100
  13  Plate           -1.263         0.752          1.197          0              90             0              88
  14  Knife           -1.105         0.770          2.459          0              0              0              49
  15  Bread           -1.206         1.700          0.984          0              90             0              88
  16  Bread           1.207          0.974          0.139          0              0              0              68
  17  Lettuce         -1.320         1.492          1.197          0              90             0              88
  18  SaltShaker      1.388          1.656          0.016          0              0              0              50
  19  PepperShaker    1.523          0.907          0.422          0              0              0              68
  20  Mug             -1.130         0.336          0.988          0              90             0              88
  21  Apple           1.414          0.146          1.503          0              0              0              89
  22  Apple           1.245          0.146          1.472          0              0              0              89
  23  Bread           -1.263         0.814          0.883          0              90             0              88
  24  Glassbottle     1.049          0.912          -0.144         0              0              0              68
  25  Fork            -1.197         0.750          2.273          0              0              0              49
  26  Kettle          1.444          0.912          -0.144         0              0              0              68
  27  Tomato          -0.919         0.799          3.015          0              0              0              49
  28  Plate           1.117          0.887          2.692          0              0              0              100
  29  CellPhone       -1.211         0.909          -0.392         0              0              0              74
  30  Lettuce         -1.263         1.492          0.778          0              90             0              88
  31  Pot             0.802          0.939          -0.740         0              90             0              77
  32  SoapBottle      -1.197         0.750          2.087          0              0              0              49
  33  WineBottle      -0.919         0.750          2.273          0              0              0              49
  34  Spatula         1.365          0.926          0.706          0              180            0              68
  35  Bowl            -1.197         0.747          3.015          0              0              0              49
  36  Apple           1.523          0.971          0.139          0              0              0              68
  37  Cup             1.049          0.910          0.139          0              0              0              68
  38  Knife           1.207          0.933          0.706          0              0              0              68
  39  Egg             -1.130         0.375          0.883          0              90             0              88
  40  SaltShaker      1.262          0.112          1.006          0              0              0              60
  41  PepperShaker    1.365          0.907          -0.428         0              0              0              68
  42  Potato          -1.135         0.957          -0.562         0              0              0              74
  43  ButterKnife     1.365          0.911          0.422          0              0              0              68
  44  DishSponge      -1.123         0.911          -0.748         0              0              0              74
  45  Pan             0.802          0.939          -0.473         0              0              0              76
  46  Spoon           1.042          0.777          0.403          0              270            0              82
  47  SprayBottle     -1.383         0.748          2.273          0              0              0              49
  48  Mug             1.294          2.151          0.686          0              0              0              59
  49  DiningTable     -1.182         0.006          2.414          0              90             0
  50  Cabinet         1.184          2.059          0.375          0              0              0
  51  Cabinet         1.184          2.059          -0.635         0              0              0
  52  Cabinet         0.591          2.309          -0.645         0              0              0
  53  Cabinet         -0.574         2.059          -0.644         0              0              0
  54  Cabinet         -1.103         2.059          -0.644         0              0              0
  55  Cabinet         -1.185         2.059          -0.331         0              0              0
  56  Cabinet         -1.185         2.059          -0.281         0              0              0
  57  Cabinet         -1.185         2.059          0.375          0              0              0
  58  Cabinet         1.184          2.309          1.174          0              0              0
  59  Cabinet         1.184          2.309          0.424          0              0              0
  60  Cabinet         0.988          0.402          0.581          0              0              0
  61  Cabinet         0.988          0.402          0.531          0              0              0
  62  Cabinet         0.988          0.402          -0.178         0              0              0
  63  Cabinet         0.335          0.402          -0.348         0              0              0
  64  Cabinet         -0.374         0.402          -0.348         0              0              0
  65  Cabinet         0.988          0.402          1.231          0              0              0
  66  Cabinet         -1.185         2.309          1.374          0              0              0
  67  Cabinet         -1.185         2.309          0.424          0              0              0
  68  CounterTop      1.274          0.947          0.064          0              0              0
  69  Drawer          1.116          0.792          -0.015         0              0              0
  70  Drawer          -1.116         0.792          0.210          0              180            0
  71  Cabinet         -0.990         0.402          0.374          0              180            0
  72  Drawer          -1.116         0.792          -0.170         0              180            0
  73  Cabinet         -0.990         0.402          -0.335         0              180            0
  74  CounterTop      -1.001         0.947          -0.669         0              0              0
  75  StoveBurner     0.502          0.932          -0.740         0              90             0
  76  StoveBurner     0.801          0.932          -0.473         0              0              0
  77  StoveBurner     0.801          0.932          -0.740         0              90             0
  78  Drawer          1.116          0.792          1.081          0              0              0
  79  Sink            -0.013         0.912          -0.615         0              0              0
  80  Drawer          1.116          0.792          0.732          0              0              0
  81  StoveBurner     0.502          0.932          -0.469         0              0              0
  82  Drawer          1.116          0.792          0.367          0              0              0
  83  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  86  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  87  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  88  Fridge          -1.300         0.008          0.987          0              90             0
  89  GarbageCan      1.296          -0.024         1.465          0              0              0
  90  Window          -0.012         1.641          -0.972         90             0              0
  91  Window          1.598          1.646          2.489          90             270            0
  92  Toaster         1.356          0.900          1.044          0              270            0
  93  LightSwitch     0.118          1.353          3.799          0              180            0
  94  Microwave       -1.343         0.900          0.053          0              90             0
  95  SinkBasin       -0.029         0.748          -0.612         0              0              0
  96  Faucet          -0.026         0.927          -0.808         0              0              0
  97  Shelf           -1.182         0.127          2.414          0              90             0
  98  Stool           1.140          0.007          3.262          1.206          20.753         0
  99  Shelf           -1.182         0.435          2.414          0              90             0
 100  DiningTable     1.169          0.014          2.569          0              0              1.896
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Take a step to the right to face the tomato on the counter. | STEP 2: Pick up the tomato on the counter. | STEP 3: Turn left and cross the room and turn right to face the microwave. | STEP 4: Heat the tomato in the microwave and remove it. | STEP 5: Turn right and walk forward and turn left to face the white table. | STEP 6: Place the tomato on the white table. | END