Task: put a cooked tomato in to the refrigerator

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          0.25           0              180            0
   1  Pan             1.543          0.909          -0.320         0              90             0              52
   2  Potato          1.239          0.800          -1.599         0              0              0              68
   3  Potato          1.757          0.950          0.827          0              90             0              49
   4  Ladle           1.757          0.954          1.180          0              90             0              49
   5  ButterKnife     0.476          0.910          1.092          0              90             0              49
   6  ButterKnife     1.839          0.910          0.570          0              180            0              49
   7  Fork            1.796          0.911          -1.717         0              90             0              53
   8  Spoon           1.501          0.911          1.092          0              180            0              49
   9  Spoon           0.356          0.912          -1.793         0              180            0              53
  10  Spatula         0.732          0.925          0.915          0              180            0              49
  11  Egg             1.839          0.945          0.415          0              90             0              49
  12  Cup             1.842          2.135          0.918          0              0              0              57
  13  Cup             0.356          0.909          -1.263         0              90             0              53
  14  Plate           -0.692         0.462          -1.476         0              0              0              76
  15  SoapBottle      1.726          0.909          -1.802         0              90             0              53
  16  SoapBottle      0.220          0.908          0.827          0              90             0              49
  17  Tomato          -0.644         1.155          -1.664         0              0              0              76
  18  Tomato          -0.741         1.452          -1.559         0              0              0              76
  19  Tomato          0.159          0.975          -1.263         0              90             0              53
  20  SaltShaker      1.245          0.905          0.827          0              90             0              49
  21  SaltShaker      1.879          1.634          0.263          0              0              0              58
  22  PepperShaker    1.762          0.905          0.467          0              270            0              49
  23  PepperShaker    1.840          1.628          -0.682         0              0              0              61
  24  Lettuce         1.501          1.010          0.915          0              90             0              49
  25  Apple           -0.692         0.803          -1.559         0              0              0              76
  26  Apple           -0.838         0.807          -1.629         0              0              0              76
  27  Plate           -0.741         1.684          -1.594         0              0              0              76
  28  SoapBottle      1.739          0.068          1.779          0              270            0              67
  29  Cup             1.803          1.013          -0.676         0              270            0              73
  30  Egg             -0.887         0.495          -1.412         0              0              0              76
  31  Fork            1.501          0.911          0.827          0              180            0              49
  32  Ladle           1.201          0.926          0.743          3.345          0              346.985        49
  33  Apple           1.739          0.127          1.684          0              270            0              67
  34  SaltShaker      1.796          0.906          -1.631         0              90             0              53
  35  Pan             1.807          0.909          -0.320         0              180            0              51
  36  Tomato          1.917          0.974          0.518          0              90             0              49
  37  Spatula         0.988          0.925          1.004          0              180            0              49
  38  Potato          0.476          0.950          0.827          0              0              0              49
  39  Knife           0.220          0.943          1.092          0              270            0              49
  40  ButterKnife     1.757          0.910          1.092          0              0              0              49
  41  Bread           1.726          0.988          -1.460         0              90             0              53
  42  Lettuce         0.856          0.989          1.120          0              270            1.420          49
  43  PepperShaker    1.529          0.905          0.363          0              90             0              49
  44  Pot             1.534          0.908          0.058          0              195.000        0              55
  45  DishSponge      1.739          0.069          1.540          0              270            0              67
  46  Spoon           0.220          0.911          0.739          0              180            0              49
  47  Bowl            1.805          1.631          -1.046         0              0              0              61
  48  Mug             1.775          2.131          1.159          0              0              0              56
  49  CounterTop      0.989          0.946          1.016          0              90             0
  50  StoveBurner     1.807          0.907          0.075          0              180            0
  51  StoveBurner     1.807          0.907          -0.320         0              180            0
  52  StoveBurner     1.543          0.907          -0.320         0              90             0
  53  CounterTop      0.989          0.946          -1.516         0              90             0
  54  Sink            1.100          0.906          -1.599         0              0              0
  55  StoveBurner     1.548          0.907          0.075          0              180            0
  56  Cabinet         1.658          2.299          1.313          0              0              0
  57  Cabinet         1.658          2.299          0.686          0              0              0
  58  Cabinet         1.658          2.049          0.673          0              0              0
  59  Cabinet         1.658          2.059          0.193          0              0              0
  60  Cabinet         1.658          2.059          -0.593         0              0              0
  61  Cabinet         1.658          2.049          -0.606         0              0              0
  62  Cabinet         1.658          2.049          -1.206         0              0              0
  63  Cabinet         1.658          2.049          -1.893         0              0              0
  64  Toaster         0.131          0.900          -1.589         0              0              0
  65  Window          -0.372         1.588          3.349          90             0              0
  66  Window          0.782          1.741          -1.893         90             0              0
  67  GarbageCan      1.770          -0.029         1.685          0              270            0
  68  SinkBasin       1.091          0.740          -1.599         0              0              0
  69  StoveKnob       1.364          0.821          0.086          48.421         270            0
  70  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  71  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  72  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  73  Microwave       1.752          0.900          -0.843         0              270            0
  74  LightSwitch     2.0            1.261          3.094          0              270            0
  75  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  76  Fridge          -0.533         0.0            -1.554         0              0              0
  77  Chair           1.068          0.000          1.752          0              191.622        0
  78  Faucet          1.110          1.138          -1.764         0              270            0
  79  Chair           0.357          0.000          1.710          0              178.899        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: move forward to the counter that is to the left of the refrigerator | STEP 2: pick up the tomato from the counter that is to the right of the green cup | STEP 3: turn left and move forward to the microwave | STEP 4: open the microwave door, put the tomato in to the microwave, close the door, turn on the microwave for three seconds, open the door and remove the tomato | STEP 5: turn around and move forward to the refrigerator on the left, turn to face the fridge | STEP 6: open the fridge doors and put the tomato on the right side in front of the white plate and close the doors | END