Task: Place a heated tomato on the kitchen counter.

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           0.901          2.5            0              90             0
   1  Potato          -2.888         1.212          4.352          0              90             0              71
   2  Potato          -2.805         0.658          4.501          0              90             0              71
   3  ButterKnife     -2.943         0.935          3.209          0              0              0              61
   4  ButterKnife     -2.686         0.900          2.309          0              0              0              75
   5  Spatula         -1.662         0.677          0.300          0              90             0              57
   6  Spatula         -0.314         0.915          2.932          0              0              0              77
   7  Spoon           -0.400         0.901          2.731          0              0              0              77
   8  Pot             -0.535         0.928          4.274          0              0              0              58
   9  Cup             -2.301         1.773          0.114          0              0              0              50
  10  Cup             -2.878         0.298          4.278          0              90             0              71
  11  Plate           -1.303         1.777          0.205          0              0              0              51
  12  Plate           -2.480         0.904          2.706          0              0              0              75
  13  Knife           -2.628         0.961          3.209          0              0              0              61
  14  SoapBottle      -1.770         0.927          0.518          0              270            0              54
  15  Tomato          -2.480         0.964          2.441          0              0              0              75
  16  Bowl            -0.572         0.897          2.530          0              0              0              77
  17  Bowl            -2.764         1.182          4.501          0              90             0              71
  18  Lettuce         -2.831         0.378          4.501          0              90             0              71
  19  Lettuce         -2.864         1.015          3.302          0              90             0              61
  20  Apple           -0.572         0.956          2.731          0              0              0              77
  21  Apple           -0.228         0.956          2.731          0              0              0              77
  22  Egg             -1.353         0.829          0.281          0              0              0              72
  23  Plate           -0.692         1.777          0.251          0              0              0              52
  24  Fork            -1.094         0.796          0.337          0              0              0              72
  25  Bread           -2.865         0.943          1.979          0              0              1.829          75
  26  Apple           -0.228         0.956          2.932          0              0              0              77
  27  Lettuce         -0.314         0.980          2.530          0              0              0              77
  28  Spatula         -2.789         0.897          1.912          1.756          180            0              75
  29  Knife           -0.272         0.688          0.355          0              90             0              43
  30  Potato          -2.583         0.926          2.045          0              0              0              75
  31  Tomato          -2.686         0.964          2.573          0              0              0              75
  32  Cup             -1.266         0.795          0.337          0              0              0              72
  33  SaltShaker      -0.400         0.896          2.329          0              0              0              77
  34  PepperShaker    -2.215         0.658          0.245          0              0              0              62
  35  ButterKnife     -2.377         0.662          0.355          0              0              0              62
  36  SoapBottle      -2.995         0.900          2.573          0              0              0              75
  37  Pan             -0.250         0.926          4.651          0              0              0              56
  38  DishSponge      -2.323         0.661          0.519          0              0              0              62
  39  Pot             -0.572         0.900          3.133          0              0              0              77
  40  Spoon           -0.326         0.663          0.464          0              0              0              43
  41  Mug             -0.249         1.768          0.297          0              0              0              53
  42  Bowl            -1.637         0.924          0.518          0              0              0              54
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn around and move to the table to the right of the black garbage bin. | STEP 2: Pick up the tomato between the blue plate and the dispenser from the rear of the table. | STEP 3: Turn around and move to the door then turn right and move to the microwave to the left of the sink. | STEP 4: Open the microwave, place the tomato on the plate in the microwave, microwave the tomato, then open the microwave and pick up the tomato from the plate, and finally close the microwave door. | STEP 5: Turn right and move toward the black garbage bin then turn left and face the end of the counter. | STEP 6: Place the tomato on the edge of the counter to the right of the pump dispenser and in front of the cup filled with utensils. | END