Task: To heat a tomato and put it on 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           -0.25          0.908          1.75           0              0              0
   1  SprayBottle     -1.357         1.655          0.222          0              0              0              61
   2  CellPhone       1.155          0.774          0.403          0              0              0              86
   3  CellPhone       1.367          0.884          2.800          0              0              0              104
   4  DishSponge      -1.286         0.911          -0.392         0              0              0              78
   5  ButterKnife     1.365          0.911          0.422          0              0              0              72
   6  Glassbottle     -1.475         0.749          2.273          0              0              0              53
   7  WineBottle      1.088          0.116          0.694          0              0              0              64
   8  WineBottle      -1.197         0.750          2.273          0              0              0              53
   9  Spoon           1.284          0.887          2.369          0              0              0              104
  10  Spoon           -0.503         0.913          -0.509         0              0              0              78
  11  Fork            1.367          0.886          2.153          0              0              0              104
  12  Fork            -1.105         0.750          2.087          0              0              0              53
  13  Spatula         1.450          0.901          2.477          0              90             0              104
  14  Pot             0.502          0.939          -0.740         0              90             0              79
  15  Cup             -0.955         1.655          -0.755         0              0              0              58
  16  Cup             -1.329         1.014          0.046          0              90             0              98
  17  Plate           0.994          2.156          -0.787         0              0              0              56
  18  Plate           -1.012         0.750          2.644          0              0              0              53
  19  Knife           1.117          0.908          2.261          0              90             0              104
  20  Knife           1.365          0.933          0.706          0              0              0              72
  21  Tomato          -1.290         0.799          2.459          0              0              0              53
  22  Tomato          1.207          0.961          0.139          0              0              0              72
  23  Bread           1.365          0.974          -0.144         0              0              0              72
  24  Lettuce         1.200          0.957          2.261          0              0              0              104
  25  SaltShaker      -1.105         0.745          2.273          0              0              0              53
  26  SaltShaker      1.367          0.882          2.369          0              0              0              104
  27  Bread           1.069          0.935          2.683          0              0              0              104
  28  Glassbottle     -0.082         0.759          -0.533         0              0              0              99
  29  Fork            1.444          0.912          -0.428         0              180            0              72
  30  Kettle          1.324          2.155          1.043          0              0              0              62
  31  Tomato          -1.513         0.961          -0.477         0              0              0              78
  32  Plate           1.325          2.157          0.555          0              0              0              63
  33  CellPhone       -1.278         0.909          -0.907         0              0              0              78
  34  Lettuce         -1.012         0.819          2.087          0              0              0              53
  35  Pot             0.802          0.939          -0.740         0              90             0              81
  36  SoapBottle      1.367          0.887          2.584          0              270            0              104
  37  WineBottle      -1.099         0.342          0.778          0              90             0              92
  38  Spatula         -1.135         0.927          -0.647         0              90             0              78
  39  Bowl            -1.320         1.419          0.883          0              90             0              92
  40  Apple           -1.206         0.811          0.883          0              90             0              92
  41  Cup             -0.020         0.757          -0.691         0              0              0              99
  42  Knife           -1.197         0.770          2.644          0              90             0              53
  43  Egg             -1.383         0.783          2.087          0              0              0              53
  44  SaltShaker      -1.290         0.745          2.644          0              0              0              53
  45  PepperShaker    1.200          0.882          2.800          0              0              0              104
  46  Potato          -1.206         1.466          1.092          0              90             0              92
  47  ButterKnife     -1.383         0.749          3.015          0              0              0              53
  48  DishSponge      1.049          0.911          0.139          0              0              0              72
  49  Pan             -0.968         0.911          -0.509         0              270            0              78
  50  Spoon           1.042          0.777          0.765          0              270            0              84
  51  SprayBottle     -0.919         0.748          2.273          0              0              0              53
  52  Mug             -1.206         1.631          0.781          0              90             0              92
  53  DiningTable     -1.182         0.006          2.414          0              90             0
  54  Cabinet         1.184          2.059          0.375          0              0              0
  55  Cabinet         1.184          2.059          -0.635         0              0              0
  56  Cabinet         0.591          2.309          -0.645         0              0              0
  57  Cabinet         -0.574         2.059          -0.644         0              0              0
  58  Cabinet         -1.103         2.059          -0.644         0              0              0
  59  Cabinet         -1.185         2.059          -0.331         0              0              0
  60  Cabinet         -1.185         2.059          -0.281         0              0              0
  61  Cabinet         -1.185         2.059          0.375          0              0              0
  62  Cabinet         1.184          2.309          1.174          0              0              0
  63  Cabinet         1.184          2.309          0.424          0              0              0
  64  Cabinet         0.988          0.402          0.581          0              0              0
  65  Cabinet         0.988          0.402          0.531          0              0              0
  66  Cabinet         0.988          0.402          -0.178         0              0              0
  67  Cabinet         0.335          0.402          -0.348         0              0              0
  68  Cabinet         -0.374         0.402          -0.348         0              0              0
  69  Cabinet         0.988          0.402          1.231          0              0              0
  70  Cabinet         -1.185         2.309          1.374          0              0              0
  71  Cabinet         -1.185         2.309          0.424          0              0              0
  72  CounterTop      1.274          0.947          0.064          0              0              0
  73  Drawer          1.116          0.792          -0.015         0              0              0
  74  Drawer          -1.116         0.792          0.210          0              180            0
  75  Cabinet         -0.990         0.402          0.374          0              180            0
  76  Drawer          -1.116         0.792          -0.170         0              180            0
  77  Cabinet         -0.990         0.402          -0.335         0              180            0
  78  CounterTop      -1.001         0.947          -0.669         0              0              0
  79  StoveBurner     0.502          0.932          -0.740         0              90             0
  80  StoveBurner     0.801          0.932          -0.473         0              0              0
  81  StoveBurner     0.801          0.932          -0.740         0              90             0
  82  Drawer          1.116          0.792          1.081          0              0              0
  83  Sink            -0.013         0.912          -0.615         0              0              0
  84  Drawer          1.116          0.792          0.732          0              0              0
  85  StoveBurner     0.502          0.932          -0.469         0              0              0
  86  Drawer          1.116          0.792          0.367          0              0              0
  87  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  90  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  91  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  92  Fridge          -1.300         0.008          0.987          0              90             0
  93  GarbageCan      1.296          -0.024         1.465          0              0              0
  94  Window          -0.012         1.641          -0.972         90             0              0
  95  Window          1.598          1.646          2.489          90             270            0
  96  Toaster         1.356          0.900          1.044          0              270            0
  97  LightSwitch     0.118          1.353          3.799          0              180            0
  98  Microwave       -1.343         0.900          0.053          0              90             0
  99  SinkBasin       -0.029         0.748          -0.612         0              0              0
 100  Faucet          -0.026         0.927          -0.808         0              0              0
 101  Shelf           -1.182         0.127          2.414          0              90             0
 102  Stool           1.140          0.007          3.262          1.206          20.753         0
 103  Shelf           -1.182         0.435          2.414          0              90             0
 104  DiningTable     1.169          0.014          2.569          0              0              1.896
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn around and walk to the counter with the microwave on it on the left.  | STEP 2: Pick up the tomato to the left of the microwave.  | STEP 3: Look down at the microwave.  | STEP 4: Open the microwave door, put the tomato down to the left of the cup in the microwave, close the door, heat up the tomato, open the door,take the tomato out, close the door.  | STEP 5: Walk over to the white table to the right of the fridge.  | STEP 6: Put the tomato down on the table to the left of the gray plate.  | END