Task: Heat up a cold tomato

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            0.900          -0.75          0              180            0
   1  Pan             -1.750         1.675          -0.175         0              180            0              87
   2  Kettle          1.765          0.938          0.384          0              180            0              67
   3  DishSponge      1.764          0.469          -0.088         0              0              0              60
   4  ButterKnife     -0.106         0.925          0.041          0              0              0              72
   5  ButterKnife     0.000          0.925          0.970          0              0              0              72
   6  Fork            1.769          0.583          -0.092         0              270            0              49
   7  Spoon           -1.551         0.912          -1.013         0              0              0              64
   8  Spoon           1.713          0.350          -0.157         0              0              0              60
   9  Pot             0.214          0.929          0.273          0              0              0              72
  10  Egg             -0.213         0.982          1.202          0              0              0              72
  11  Cup             -1.360         1.677          -1.652         0              0              0              66
  12  Cup             1.924          1.004          -0.599         0              270            0              85
  13  Plate           1.986          0.910          1.408          0              0              0              64
  14  Plate           1.962          1.658          -1.129         0              270            0              52
  15  PepperShaker    1.509          0.907          0.844          0              0              0              64
  16  Lettuce         -0.213         1.002          -0.190         0              0              0              72
  17  Mug             -1.789         1.024          -0.175         0              90             0              87
  18  Apple           -1.645         1.522          0.201          0              90             0              87
  19  SoapBottle      1.746          0.915          0.103          0              0              0              64
  20  Cup             -0.106         0.923          0.970          0              0              0              72
  21  Pot             1.975          0.938          0.601          0              180            0              59
  22  Fork            0.000          0.926          0.273          0              180            0              72
  23  Ladle           1.714          0.165          0.599          0              270            0              56
  24  Kettle          1.195          0.110          -1.542         0              0              0              57
  25  Egg             -1.814         0.968          -1.013         0              0              0              64
  26  Plate           -0.106         0.924          0.506          0              0              0              72
  27  Pan             -1.286         0.9            -1.348         0              79.769         0              64
  28  Lettuce         -1.750         1.545          -0.081         0              90             0              87
  29  Spatula         -1.639         0.926          -1.063         0              0              0              64
  30  Apple           0.083          0.813          -1.490         0              0              0              88
  31  Knife           0.214          0.947          0.970          0              0              0              72
  32  SaltShaker      -1.244         0.109          -1.550         0              0              0              76
  33  PepperShaker    0.194          0.109          -1.597         0              0              0              53
  34  CellPhone       1.813          0.909          1.258          0              0              0              64
  35  ButterKnife     -1.902         0.911          -0.964         0              0              0              64
  36  Bread           0.321          1.006          0.738          0              0              0              72
  37  Tomato          -0.320         0.980          0.041          0              0              0              72
  38  Potato          -1.749         0.863          -0.175         0              90             0              87
  39  DishSponge      1.658          0.761          1.292          0              270            0              70
  40  Spoon           -1.874         0.912          -1.610         0              0              0              64
  41  Mug             -0.088         0.755          -1.435         0              0              0              88
  42  Bowl            -0.867         1.678          -1.577         0              0              0              66
  43  Cabinet         -0.495         0.474          -1.149         0              0              0
  44  Window          -0.010         1.582          -1.821         0              0              0
  45  Drawer          0.805          0.475          -1.159         0              0              0
  46  StoveBurner     1.764          0.902          0.601          0              270            0
  47  Drawer          1.5            0.196          -0.019         0              0              0
  48  Drawer          1.5            0.629          -0.018         0              0              0
  49  Drawer          1.5            0.602          -0.019         0              270            0
  50  StoveBurner     1.975          0.902          0.384          0              270            0
  51  Cabinet         -1.703         2.022          -1.453         0              90             0
  52  Cabinet         1.789          2.019          -0.819         0              270            0
  53  Cabinet         0.494          0.474          -1.149         0              0              0
  54  Cabinet         0.409          0.475          0.444          0              0              0
  55  Drawer          -0.696         0.475          -1.159         0              0              0
  56  Drawer          1.5            0.140          0.599          0              270            0
  57  Cabinet         1.389          0.474          -1.149         0              0              0
  58  Drawer          1.5            0.305          0.600          0              0              0
  59  StoveBurner     1.975          0.902          0.601          0              270            0
  60  Drawer          1.5            0.429          -0.019         0              0              0
  61  StoveBurner     1.764          0.902          0.819          0              270            0
  62  Drawer          1.5            0.519          1.220          0              0              0
  63  Cabinet         1.705          2.019          -1.449         0              0              0
  64  CounterTop      0.002          0.947          -1.513         0              0              0
  65  Drawer          1.5            0.629          0.605          0              0              0
  66  Cabinet         -0.627         2.019          -1.449         0              0              0
  67  StoveBurner     1.764          0.902          0.384          0              270            0
  68  Drawer          1.5            0.538          0.600          0              0              0
  69  Sink            0.0            0.893          -1.434         0              0              0
  70  Drawer          1.5            0.782          1.220          0              270            0
  71  Window          2.217          1.565          -0.384         0              0              0
  72  CounterTop      -0.014         0.961          0.505          0              0              0
  73  Drawer          1.5            0.200          1.220          0              0              0
  74  StoveBurner     1.975          0.902          0.819          0              270            0
  75  Window          -3.240         1.616          2.693          0              270            0
  76  Cabinet         -1.389         0.474          -1.149         0              0              0
  77  LightSwitch     -0.153         1.291          3.700          0              180            0
  78  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  79  StoveKnob       1.602          0.917          0.570          0              270            180
  80  StoveKnob       1.602          0.917          0.625          0              270            180
  81  StoveKnob       1.602          0.917          0.739          0              270            180
  82  StoveKnob       1.602          0.917          0.680          0              270            180
  83  StoveKnob       1.602          0.917          0.462          0              270            180
  84  StoveKnob       1.602          0.917          0.517          0              270            180
  85  Microwave       1.932          0.899          -0.766         0              270            0
  86  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  87  Fridge          -1.764         0.0            0.014          0              90             0
  88  SinkBasin       -0.014         0.736          -1.435         0              0              0
  89  Toaster         1.977          0.900          -0.336         0              270            0
  90  Faucet          -0.020         1.137          -1.605         0              270            0
  91  Chair           -9.354         0.000          1.242          0              180            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Walk straight then hang right at the end of the counter, take a few more steps then turn to face the counter | STEP 2: Pick the tomato up that is on the counter | STEP 3: Turn around until you are facing the fridge | STEP 4: Put the tomato in the fridge for a bit then take it out | STEP 5: Carry the tomato over to the microwave and put it in there | STEP 6: Turn the microwave on | END