Task: Place a cold tomato in the microwave.

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          -0.5           0              0              0
   1  DishSponge      -2.241         0.114          0.334          0              0              0              64
   2  DishSponge      -2.287         0.773          0.809          0              0              0              44
   3  ButterKnife     -2.538         0.910          0.331          0              0              0              67
   4  Spoon           1.353          0.923          -1.239         0              45             0              53
   5  Pot             1.412          0.929          -0.335         0              0              0              40
   6  Pot             -0.601         0.914          0.870          0              0              0              39
   7  Egg             -2.570         1.028          2.380          0              90             0              79
   8  Egg             1.207          0.794          -1.366         0              225            0              77
   9  Cup             1.283          0.916          -1.169         0              225            0              53
  10  Tomato          1.729          0.227          0.651          0              0              0              78
  11  Bowl            1.428          0.908          -0.726         0              0              0              49
  12  SaltShaker      -2.564         1.532          1.483          0              0              0              52
  13  SaltShaker      -2.605         1.532          2.695          0              0              0              43
  14  Lettuce         -0.211         0.994          1.317          0              0              0              39
  15  Apple           -2.420         0.656          -0.514         0              90             0              71
  16  Pan             -0.601         0.910          1.317          0              0              0              39
  17  Knife           -2.455         0.936          0.031          0              0              0              67
  18  Apple           1.604          0.246          0.706          0              0              0              78
  19  Bowl            -2.310         0.111          -0.023         0              0              0              55
  20  Fork            1.488          0.919          -1.104         0              225            0              53
  21  Bread           -2.466         0.680          -0.962         0              90             0              71
  22  Plate           1.735          1.666          -0.622         0              0              0              59
  23  Egg             1.391          0.950          -1.061         0              225            0              53
  24  Kettle          -2.599         1.539          0.629          0              0              0              62
  25  Potato          1.598          0.947          0.346          0              0              0              48
  26  SaltShaker      -2.375         1.578          -1.412         0              180            0              66
  27  Lettuce         -0.081         0.994          0.423          0              0              0              39
  28  Cup             -2.704         0.908          1.230          0              0              0              67
  29  SoapBottle      -2.448         1.585          -1.558         0              180            0              66
  30  Spatula         1.513          0.925          -0.851         0              180            0              53
  31  PaperTowelRoll  -2.621         1.015          1.530          0              0              0              67
  32  ButterKnife     1.326          0.918          -1.266         0              225            0              53
  33  PepperShaker    -0.341         0.905          1.094          0              0              0              39
  34  DishSponge      -2.257         0.773          0.952          0              0              0              44
  35  Pot             1.691          0.929          -0.335         0              0              0              47
  36  Spoon           -2.196         0.774          -0.121         0              90             0              57
  37  Tomato          1.341          0.953          0.435          0              0              0              48
  38  Mug             -0.341         0.905          1.764          0              0              0              39
  39  CounterTop      -0.360         0.946          1.093          0              0              0
  40  StoveBurner     1.412          0.923          -0.335         0              0              0
  41  StoveKnob       1.878          1.093          0.018          287.989        90             0
  42  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  43  Cabinet         -2.446         1.948          2.924          0              0              0
  44  Drawer          -2.276         0.792          0.902          0              0              0
  45  Cabinet         -2.145         0.402          1.578          0              0              0
  46  Cabinet         0.149          2.008          -1.603         0              90             0
  47  StoveBurner     1.691          0.923          -0.335         0              0              0
  48  CounterTop      1.585          0.946          0.405          0              0              0
  49  CounterTop      0.474          0.946          -1.625         0              0              0
  50  StoveBurner     1.691          0.923          0.064          0              0              0
  51  Cabinet         -2.446         1.948          1.687          0              0              0
  52  Cabinet         -2.446         1.948          1.640          0              0              0
  53  Sink            1.381          0.810          -1.271         0              225            0
  54  StoveKnob       1.878          1.093          0.150          287.989        90             0
  55  Cabinet         -2.145         0.402          -0.236         0              0              0
  56  Drawer          -2.276         0.792          0.437          0              0              0
  57  Drawer          -2.276         0.792          -0.027         0              0              0
  58  Cabinet         1.572          2.008          0.474          0              0              0
  59  Cabinet         1.572          2.008          -0.775         0              0              0
  60  Cabinet         -2.445         2.148          -1.275         0              0              0
  61  Cabinet         -2.446         2.148          -0.284         0              0              0
  62  Cabinet         -2.446         1.948          0.355          0              0              0
  63  Cabinet         -2.446         1.948          0.405          0              0              0
  64  Cabinet         -2.145         0.402          0.644          0              0              0
  65  Cabinet         -2.145         0.402          0.695          0              0              0
  66  Cabinet         -2.285         1.968          -1.325         0              180            0
  67  CounterTop      -1.485         0.946          1.319          0              0              0
  68  StoveBurner     1.411          0.923          0.064          0              0              0
  69  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  70  Drawer          -2.276         0.792          1.368          0              0              0
  71  Fridge          -2.475         0.0            -0.782         0              90             0
  72  LightSwitch     -0.929         1.350          -1.950         0              0              0
  73  Toaster         -2.564         0.900          1.876          0              90             0
  74  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  75  Window          1.508          1.534          -1.496         90             135            0
  76  Window          1.973          1.521          1.121          90             90             0
  77  SinkBasin       1.149          0.753          -1.380         0              225            0
  78  GarbageCan      1.646          -0.000         0.679          0              0              0
  79  Microwave       -2.580         0.900          2.440          0              90             0
  80  Stool           0.439          0.010          0.747          0              0              0
  81  Stool           -2.303         0.010          1.839          0              0              0
  82  Faucet          1.235          1.138          -1.473         0              225            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Move straight ahead, and when you're lined up with the window on your right, turn right to stand in front of the trash bin. | STEP 2: Pick up the tomato from behind the apple in the trash bin. | STEP 3: Turn right to move to the dishwasher, then head right again until you get to the fridge. | STEP 4: Open the fridge to place the tomato in the top section, close the door and wait a few seconds, and then remove the tomato. | STEP 5: Turn right and carry the tomato to stand in front of the microwave at the end of the counter on the left. | STEP 6: Open the microwave and place the tomato inside. | END