Task: Heat a tomato and place 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           -0.75          0.869          -3.5           0              270            0
   1  Potato          0.601          0.697          0.569          0              0              0              53
   2  DishSponge      0.877          0.883          0.029          0              0              0              48
   3  DishSponge      -1.803         0.701          -1.091         0              0              0              84
   4  ButterKnife     0.655          0.883          -0.039         0              0              0              48
   5  Spatula         0.950          0.898          -0.108         0              0              0              48
   6  Spatula         0.671          0.774          -0.124         0              270            0              47
   7  Spoon           0.817          0.761          0.002          0              90             0              47
   8  Spoon           0.841          0.666          0.387          0              0              0              53
   9  Fork            0.901          0.665          0.630          0              0              0              53
  10  Fork            0.799          0.773          -0.515         0              0              0              71
  11  Egg             0.863          0.701          -1.880         0              270            0              68
  12  Egg             0.661          0.702          0.508          0              0              0              53
  13  Cup             0.601          0.664          0.387          0              0              0              53
  14  Plate           -0.051         0.904          1.101          0              270            0              74
  15  Tomato          0.721          0.713          0.326          0              0              0              53
  16  Tomato          0.901          0.713          0.387          0              0              0              53
  17  Tomato          0.746          1.207          -1.958         0              270            0              68
  18  SoapBottle      0.842          0.014          -0.833         0              0              0              51
  19  Bowl            0.858          1.462          0.411          0              0              0              60
  20  PepperShaker    1.040          1.460          -0.207         0              0              0              59
  21  PepperShaker    0.903          1.460          -0.022         0              0              0              59
  22  SaltShaker      0.621          0.012          -0.898         0              0              0              51
  23  Bread           -0.051         0.944          0.843          0              270            0              74
  24  Lettuce         0.781          0.751          0.569          0              0              0              53
  25  Mug             0.698          0.941          -1.360         0              270            0              61
  26  Pot             -1.552         0.930          0.785          0              0              0              52
  27  Plate           -2.023         0.692          -1.447         0              0              0              84
  28  Fork            0.866          0.760          -0.188         0              90             0              47
  29  SoapBottle      -2.054         0.701          -1.199         0              0              0              84
  30  Apple           0.669          1.428          -1.957         0              270            0              68
  31  Pan             0.740          -0.007         -0.596         0              0              0              51
  32  Egg             -1.719         0.738          -0.983         0              0              0              84
  33  Spatula         -1.719         0.716          -1.524         0              0              0              84
  34  Potato          0.757          0.805          -0.570         0              270            0              71
  35  Cup             -1.635         0.700          -0.983         0              0              0              84
  36  SaltShaker      0.601          0.661          0.265          0              0              0              53
  37  PepperShaker    0.149          0.896          1.015          0              270            0              74
  38  ButterKnife     0.754          0.755          -0.743         0              45             0              71
  39  DishSponge      0.149          0.900          1.187          0              270            0              74
  40  Bread           -0.873         0.931          0.978          0              24.231         0              74
  41  Lettuce         -1.260         0.138          -3.611         0              270            0              63
  42  Tomato          0.757          0.820          -0.735         0              270            0              71
  43  Spoon           0.671          0.761          0.002          0              0              0              47
  44  Knife           -0.654         0.923          1.272          0              0              0              74
  45  Mug             0.672          0.767          -0.625         0              270            0              71
  46  Bowl            -2.038         0.691          -1.003         0              0              0              84
  47  Drawer          0.706          0.766          -0.125         0              0              0
  48  CounterTop      0.792          0.919          -0.108         0              0              0
  49  Mirror          1.093          1.602          -0.643         0              0              0
  50  StoveBurner     -2.096         0.890          0.785          0              0              0
  51  Cabinet         0.507          0.345          -0.426         0              0              0
  52  StoveBurner     -1.552         0.890          0.785          0              0              0
  53  SideTable       0.770          -0.030         0.443          0              0              0
  54  Sink            0.753          0.882          -0.680         0              0              0
  55  StoveBurner     -2.096         0.890          1.049          0              0              0
  56  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  57  StoveBurner     -1.554         0.890          1.049          0              0              0
  58  Cabinet         0.507          0.345          0.156          0              0              0
  59  Cabinet         0.717          1.822          -0.398         0              0              0
  60  Cabinet         0.717          1.822          0.669          0              0              0
  61  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  62  Toaster         -0.522         0.886          1.081          0              180            0
  63  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  64  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  65  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  66  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  67  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  68  Fridge          0.680          -0.031         -1.957         0              0              0
  69  Window          -2.424         1.639          -2.453         90             270            0
  70  Microwave       -1.994         0.690          -3.651         0              0              0
  71  SinkBasin       0.757          0.762          -0.688         0              270            0
  72  LightSwitch     1.102          1.368          -3.737         0              270            0
  73  Shelf           -0.350         0.124          0.857          0              0              0
  74  DiningTable     -0.350         -0.025         0.857          0              0              0
  75  DiningTable     -1.909         -0.032         -3.507         0              0              0
  76  Blinds          -2.343         2.151          -2.437         0              270            0
  77  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  78  AluminumFoil    0.751          0.225          0.287          0              0              0
  79  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  80  Shelf           0.771          0.226          0.445          0              0              0
  81  Shelf           0.771          0.456          0.446          0              0              0
  82  Faucet          1.025          0.873          -0.678         270            180            0
  83  Shelf           -0.350         0.497          0.857          0              0              0
  84  DiningTable     -1.929         -0.035         -1.398         0              90             0
  85  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn to the right and move to the white table. Turn right to face the small black table. | STEP 2: Pick up the tomato from the right side of the black table. | STEP 3: Carry the tomato and turn around. Turn left and then right to face the microwave on the left side. | STEP 4: Open the microwave and place the tomato inside. Shut the door and then open it. Take the tomato out and shut the door. | STEP 5: Take the tomato and turn around to move to the white table. Turn right and move to the small black table. | STEP 6: Place the tomato on the black table, toward the right side. | END