Task: Put a warm tomato 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           1.25           0.900          0.25           0              180            0
   1  Pan             -0.889         0.047          2.367          0              270            0              74
   2  Pan             2.116          1.027          -1.84          0              270            0              58
   3  Potato          -1.028         0.828          -0.738         0              90             0              98
   4  Potato          2.451          0.806          3.445          0              0              0              55
   5  Ladle           -0.731         0.841          0.615          0              0              0              56
   6  Ladle           2.100          0.803          4.044          0              270            0              55
   7  ButterKnife     -0.645         0.816          1.492          0              90             0              111
   8  ButterKnife     -0.731         0.801          1.899          0              0              0              59
   9  WineBottle      -0.455         0.048          2.468          0              0              0              74
  10  WineBottle      2.239          0.765          4.484          0              329.999        0              55
  11  Glassbottle     2.893          0.033          -0.586         0              0              0              95
  12  Spoon           2.818          0.803          -1.086         0              0              0              54
  13  Spoon           2.761          0.801          -0.607         0              270            0              54
  14  Fork            2.191          0.765          3.710          0              315            0              55
  15  Egg             -0.875         0.121          2.811          0              0              0              109
  16  Cup             -1.028         0.784          -0.406         0              90             0              98
  17  Plate           1.350          1.027          -1.560         0              90             0              54
  18  Knife           1.925          0.789          3.969          0              270            0              55
  19  Tomato          2.395          0.818          4.362          0              329.999        0              55
  20  Tomato          -0.418         1.081          0.600          0              0              0              57
  21  Bowl            2.555          0.762          3.865          0              225            0              55
  22  Bowl            -1.028         0.784          -0.184         0              90             0              98
  23  PepperShaker    1.615          2.276          -1.756         0              0              0              70
  24  Mug             2.106          1.856          -1.843         0              0              0              100
  25  Mug             2.726          0.759          3.492          0              329.999        0              55
  26  Pan             1.761          1.027          -1.599         0              0              0              97
  27  Glassbottle     -0.577         0.817          1.103          0              90             0              111
  28  Knife           2.874          0.828          -1.086         0              270            0              54
  29  SoapBottle      -1.074         1.026          1.612          0              0              0              57
  30  Egg             2.243          0.808          3.657          0              225            0              55
  31  Fork            -0.802         0.800          2.061          0              270            0              59
  32  Potato          2.976          0.806          3.821          0              270            0              55
  33  Ladle           2.621          1.066          0.068          0              0              0              54
  34  Tomato          2.605          0.818          4.334          0              225            0              55
  35  Pot             2.177          1.027          -1.599         0              0              0              53
  36  WineBottle      2.815          0.765          4.124          0              225            0              55
  37  Plate           -0.922         1.442          -0.295         0              90             0              98
  38  Spatula         2.626          0.779          3.970          0              90             0              55
  39  PaperTowelRoll  2.322          0.868          3.895          0              329.999        0              55
  40  Lettuce         1.777          1.085          1.555          0              136.999        0              54
  41  Apple           -1.059         1.492          -0.073         0              90             0              98
  42  SaltShaker      -0.732         0.797          2.418          0              0              0              60
  43  PepperShaker    1.640          0.796          1.603          0              317.0          0              69
  44  ButterKnife     2.166          0.764          3.475          0              225            0              55
  45  Bread           2.370          1.094          1.550          0              136.999        0              54
  46  Cup             2.074          0.763          4.176          0              329.999        0              55
  47  DishSponge      2.599          0.764          3.62           0              0              0              55
  48  Bowl            2.788          1.025          1.102          0              136.999        0              54
  49  Spoon           -0.590         0.802          2.325          0              90             0              60
  50  Mug             -0.803         1.070          0.646          0              90             0              107
  51  Sink            -0.716         1.023          1.333          0              0              0
  52  StoveBurner     1.835          1.018          -1.840         0              90             0
  53  StoveBurner     2.177          1.018          -1.599         0              0              0
  54  CounterTop      2.812          0.992          0.675          0              0              0
  55  DiningTable     2.419          0.003          3.930          0              0              0
  56  Drawer          -0.643         0.828          0.616          0              0              0
  57  CounterTop      -0.813         1.062          2.188          0              0              0
  58  StoveBurner     2.115          1.018          -1.840         0              270            0
  59  Drawer          -0.643         0.831          1.953          0              0              0
  60  Drawer          -0.643         0.833          2.418          0              0              0
  61  Drawer          1.347          0.836          -1.539         0              0              0
  62  Drawer          2.693          0.833          -1.131         0              0              0
  63  Drawer          2.693          0.833          -0.699         0              0              0
  64  Drawer          2.693          0.833          -0.267         0              0              0
  65  Drawer          2.693          0.833          0.163          0              0              0
  66  Drawer          2.524          0.833          0.720          0              2.000          0
  67  Drawer          2.232          0.833          1.036          0              2.000          0
  68  Drawer          1.936          0.833          1.354          0              2.000          0
  69  Drawer          1.646          0.833          1.670          0              2.000          0
  70  Cabinet         1.504          2.475          -1.710         0              0              0
  71  Cabinet         -0.823         2.220          1.621          0              0              0
  72  Cabinet         -0.823         2.220          0.615          0              0              0
  73  Cabinet         1.136          0.388          -1.355         0              0              0
  74  Cabinet         -0.356         0.383          2.626          0              0              0
  75  Cabinet         2.745          2.220          -1.690         0              0              0
  76  Cabinet         1.882          0.383          1.017          0              0              0
  77  Cabinet         1.307          0.473          1.640          0              0              0
  78  Cabinet         1.892          0.383          1.006          0              0              0
  79  Cabinet         2.467          0.383          0.383          0              0              0
  80  Cabinet         2.466          0.383          -0.475         0              0              0
  81  Cabinet         2.466          0.473          0.371          0              0              0
  82  Cabinet         2.386          2.475          -1.710         0              0              0
  83  Cabinet         -0.356         0.383          1.712          0              0              0
  84  Cabinet         2.745          2.220          0.019          0              0              0
  85  Cabinet         -0.663         2.496          0.157          0              0              0
  86  Cabinet         -0.663         2.496          -0.868         0              0              0
  87  Cabinet         -0.356         0.383          0.269          0              0              0
  88  Cabinet         -0.823         2.220          1.603          0              0              0
  89  Cabinet         -0.662         2.234          0.586          0              0              0
  90  Cabinet         2.745          2.220          -0.843         0              0              0
  91  Cabinet         2.745          2.220          -0.827         0              0              0
  92  Cabinet         -0.823         2.220          2.608          0              0              0
  93  Cabinet         2.732          2.226          -1.709         0              0              0
  94  Cabinet         1.137          2.226          -1.709         0              0              0
  95  Cabinet         2.466          0.383          -0.491         0              0              0
  96  Cabinet         2.466          0.383          -1.339         0              0              0
  97  StoveBurner     1.761          1.018          -1.599         0              0              0
  98  Fridge          -0.908         0.0            -0.405         0              0              0
  99  HousePlant      2.517          1.016          1.822          0              0              0
 100  Microwave       1.939          1.745          -1.826         0              0              0
 101  StoveKnob       2.017          1.041          -1.514         0              180            180
 102  StoveKnob       1.934          1.041          -1.514         0              180            180
 103  StoveKnob       2.017          1.041          -1.589         0              180            180
 104  StoveKnob       1.934          1.041          -1.589         0              180            180
 105  Window          1.756          1.608          4.762          90             0              0
 106  HousePlant      2.171          1.004          2.091          0              0              0
 107  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 108  LightSwitch     -0.099         1.410          -2.066         0              0              0
 109  GarbageCan      -0.951         -0.029         2.826          0              0              0
 110  Toaster         -1.007         1.018          2.238          0              90             0
 111  SinkBasin       -0.714         0.805          1.348          0              90             0
 112  Chair           1.615          0.004          4.310          0              107.976        0
 113  Faucet          -1.120         1.013          1.334          0              90             0
 114  Chair           2.759          0.004          3.086          0              358.967        0
 115
 116  NorthWall
 117  EastWall
 118  SouthWall
 119  WestWall

Plan:
STEP 1: Turn around, go straight toward the wall, turn right, then turn left to face the table. | STEP 2: Pick up the rightmost tomato on the table. | STEP 3: Turn left, move forward, turn left, move forward, turn left, then turn right to approach the microwave. | STEP 4: Heat the tomato in the microwave. | STEP 5: Turn right, move forward, turn right, go forward to pass the counter, then turn right, move forward, then turn left to face the table. | STEP 6: Place the tomato on the table, in between the knife and the potato. | END