Task: Put a heated tomato on a table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.869          -3.0           0              180            0
   1  Potato          -1.719         0.734          -0.983         0              0              0              74
   2  DishSponge      0.841          0.772          -0.625         0              270            0              61
   3  ButterKnife     0.574          0.760          -0.188         0              90             0              37
   4  Spoon           0.720          0.760          0.002          0              0              0              37
   5  Tomato          0.785          0.514          -1.880         0              270            0              58
   6  Tomato          -1.578         0.748          -3.529         0              0              0              65
   7  SoapBottle      -0.252         0.899          1.101          0              270            0              64
   8  SoapBottle      -2.137         0.701          -0.875         0              0              0              74
   9  Bowl            0.746          1.158          -1.802         0              270            0              58
  10  Bowl            0.949          1.462          -0.084         0              0              0              49
  11  PepperShaker    0.601          0.661          0.630          0              0              0              43
  12  PepperShaker    0.994          1.460          0.288          0              0              0              50
  13  SaltShaker      0.787          0.012          -0.053         0              0              0              48
  14  Lettuce         -0.252         0.987          0.929          0              270            0              64
  15  Mug             0.672          0.767          -0.680         0              270            0              61
  16  Pot             -2.071         0.927          0.772          0              266.284        0              40
  17  Plate           0.149          0.904          0.929          0              270            0              64
  18  Fork            0.647          0.874          -0.069         0              45             0              38
  19  SoapBottle      -1.224         0.051          -3.611         0              270            0              53
  20  Apple           0.601          0.718          0.265          0              0              0              43
  21  Pan             -1.552         0.930          0.785          0              0              0              42
  22  Egg             1.055          0.920          -0.460         0              0              0              38
  23  Spatula         0.779          0.885          -0.048         0              45             0              38
  24  Potato          -1.535         0.729          -3.361         0              0              0              65
  25  Cup             0.669          1.373          -1.725         0              270            0              58
  26  SaltShaker      0.621          0.012          0.011          0              0              0              48
  27  PepperShaker    0.781          0.660          0.508          0              0              0              43
  28  ButterKnife     0.721          0.664          0.569          0              0              0              43
  29  DishSponge      0.841          0.664          0.326          0              0              0              43
  30  Bread           -1.056         0.944          1.015          0              270            0              64
  31  Lettuce         0.661          0.752          0.448          0              0              0              43
  32  Tomato          0.901          0.713          0.508          0              0              0              43
  33  Spoon           0.866          0.761          -0.124         0              90             0              37
  34  Knife           1.070          0.906          -0.611         0              270            0              38
  35  Mug             0.785          0.660          -1.802         0              270            0              58
  36  Bowl            0.949          1.462          0.473          0              0              0              50
  37  Drawer          0.706          0.766          -0.125         0              0              0
  38  CounterTop      0.792          0.919          -0.108         0              0              0
  39  Mirror          1.093          1.602          -0.643         0              0              0
  40  StoveBurner     -2.096         0.890          0.785          0              0              0
  41  Cabinet         0.507          0.345          -0.426         0              0              0
  42  StoveBurner     -1.552         0.890          0.785          0              0              0
  43  SideTable       0.770          -0.030         0.443          0              0              0
  44  Sink            0.753          0.882          -0.680         0              0              0
  45  StoveBurner     -2.096         0.890          1.049          0              0              0
  46  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  47  StoveBurner     -1.554         0.890          1.049          0              0              0
  48  Cabinet         0.507          0.345          0.156          0              0              0
  49  Cabinet         0.717          1.822          -0.398         0              0              0
  50  Cabinet         0.717          1.822          0.669          0              0              0
  51  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  52  Toaster         -0.522         0.886          1.081          0              180            0
  53  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  54  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  55  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  56  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  58  Fridge          0.680          -0.031         -1.957         0              0              0
  59  Window          -2.424         1.639          -2.453         90             270            0
  60  Microwave       -1.994         0.690          -3.651         0              0              0
  61  SinkBasin       0.757          0.762          -0.688         0              270            0
  62  LightSwitch     1.102          1.368          -3.737         0              270            0
  63  Shelf           -0.350         0.124          0.857          0              0              0
  64  DiningTable     -0.350         -0.025         0.857          0              0              0
  65  DiningTable     -1.909         -0.032         -3.507         0              0              0
  66  Blinds          -2.343         2.151          -2.437         0              270            0
  67  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  68  AluminumFoil    0.751          0.225          0.287          0              0              0
  69  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  70  Shelf           0.771          0.226          0.445          0              0              0
  71  Shelf           0.771          0.456          0.446          0              0              0
  72  Faucet          1.025          0.873          -0.678         270            180            0
  73  Shelf           -0.350         0.497          0.857          0              0              0
  74  DiningTable     -1.929         -0.035         -1.398         0              90             0
  75  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn toward the table with the tomato and microwave on it | STEP 2: Pick up the tomato from the table | STEP 3: Move around the table to face the microwave on the left | STEP 4: Open the microwave door, put the tomato inside and close the door. Turn on the microwave, open the door and take the tomato out of the microwave | STEP 5: Turn left and head to the table to the left of the sink on the right | STEP 6: Put the tomato by the sponge on the small table with shelves | END