Task: Cool a tomato and put it into microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.908          2.0            0              270            0
   1  SprayBottle     1.365          0.910          0.706          0              0              0              68
   2  Potato          1.523          0.956          -0.428         0              0              0              68
   3  DishSponge      1.155          0.775          1.050          0              0              0              78
   4  ButterKnife     -0.813         0.912          -0.669         0              0              0              74
   5  ButterKnife     -1.197         0.749          2.087          0              0              0              49
   6  WineBottle      1.219          0.116          0.808          0              0              0              60
   7  WineBottle      -1.475         0.749          1.902          0              0              0              49
   8  Spoon           1.284          0.887          2.692          0              0              0              100
   9  Spoon           1.117          0.887          2.369          0              0              0              100
  10  Spatula         1.286          0.926          0.706          0              90             0              68
  11  Pot             0.502          0.939          -0.469         0              0              0              81
  12  Egg             1.049          0.945          0.139          0              0              0              68
  13  Cup             -1.329         1.014          -0.109         0              90             0              94
  14  Plate           -1.263         0.752          0.778          0              90             0              88
  15  Plate           1.128          0.912          0.422          0              0              0              68
  16  Bowl            1.367          0.884          2.369          0              0              0              100
  17  Bowl            -1.012         0.747          2.644          0              0              0              49
  18  Bread           1.365          0.974          0.139          0              0              0              68
  19  SaltShaker      1.200          0.882          2.584          0              0              0              100
  20  SaltShaker      1.293          1.652          -0.513         0              0              0              50
  21  Mug             -1.089         0.112          0.124          0              180            0              71
  22  Apple           1.470          0.146          1.503          0              0              0              89
  23  Bread           -1.290         0.813          2.644          0              0              0              49
  24  Glassbottle     -1.475         0.749          2.830          0              0              0              49
  25  Fork            -1.105         0.750          1.902          0              0              0              49
  26  Kettle          0.502          0.939          -0.740         0              90             0              75
  27  Tomato          1.128          0.961          -0.428         0              0              0              68
  28  Plate           0.209          0.117          -0.490         0              0              0              63
  29  CellPhone       -1.433         0.909          -0.907         0              0              0              74
  30  Lettuce         0.951          0.957          2.692          0              0              0              100
  31  Pot             0.802          0.939          -0.740         0              90             0              77
  32  SoapBottle      1.049          0.912          0.990          0              0              0              68
  33  WineBottle      1.470          0.087          1.409          0              0              0              89
  34  Spatula         -0.144         0.773          -0.612         0              180            0              95
  35  Bowl            -1.263         0.749          1.197          0              90             0              88
  36  Apple           1.207          0.971          0.706          0              0              0              68
  37  Cup             -1.135         0.911          -0.477         0              0              0              74
  38  Knife           -1.012         0.771          3.015          0              0              0              49
  39  Egg             -1.225         0.375          0.988          0              90             0              88
  40  SaltShaker      -0.088         0.112          -0.490         0              0              0              74
  41  PepperShaker    -1.362         0.908          -0.392         0              0              0              74
  42  Potato          -1.320         1.333          0.778          0              90             0              88
  43  ButterKnife     1.284          0.886          2.692          0              270            0              100
  44  DishSponge      0.041          0.758          -0.533         0              0              0              95
  45  Pan             -1.332         0.9            -0.699         0              345.0          0              74
  46  Spoon           -1.042         0.777          -0.205         0              90             0              72
  47  SprayBottle     1.356          2.156          0.599          0              0              0              59
  48  Mug             -1.435         1.416          0.778          0              180            0              88
  49  DiningTable     -1.182         0.006          2.414          0              90             0
  50  Cabinet         1.184          2.059          0.375          0              0              0
  51  Cabinet         1.184          2.059          -0.635         0              0              0
  52  Cabinet         0.591          2.309          -0.645         0              0              0
  53  Cabinet         -0.574         2.059          -0.644         0              0              0
  54  Cabinet         -1.103         2.059          -0.644         0              0              0
  55  Cabinet         -1.185         2.059          -0.331         0              0              0
  56  Cabinet         -1.185         2.059          -0.281         0              0              0
  57  Cabinet         -1.185         2.059          0.375          0              0              0
  58  Cabinet         1.184          2.309          1.174          0              0              0
  59  Cabinet         1.184          2.309          0.424          0              0              0
  60  Cabinet         0.988          0.402          0.581          0              0              0
  61  Cabinet         0.988          0.402          0.531          0              0              0
  62  Cabinet         0.988          0.402          -0.178         0              0              0
  63  Cabinet         0.335          0.402          -0.348         0              0              0
  64  Cabinet         -0.374         0.402          -0.348         0              0              0
  65  Cabinet         0.988          0.402          1.231          0              0              0
  66  Cabinet         -1.185         2.309          1.374          0              0              0
  67  Cabinet         -1.185         2.309          0.424          0              0              0
  68  CounterTop      1.274          0.947          0.064          0              0              0
  69  Drawer          1.116          0.792          -0.015         0              0              0
  70  Drawer          -1.116         0.792          0.210          0              180            0
  71  Cabinet         -0.990         0.402          0.374          0              180            0
  72  Drawer          -1.116         0.792          -0.170         0              180            0
  73  Cabinet         -0.990         0.402          -0.335         0              180            0
  74  CounterTop      -1.001         0.947          -0.669         0              0              0
  75  StoveBurner     0.502          0.932          -0.740         0              90             0
  76  StoveBurner     0.801          0.932          -0.473         0              0              0
  77  StoveBurner     0.801          0.932          -0.740         0              90             0
  78  Drawer          1.116          0.792          1.081          0              0              0
  79  Sink            -0.013         0.912          -0.615         0              0              0
  80  Drawer          1.116          0.792          0.732          0              0              0
  81  StoveBurner     0.502          0.932          -0.469         0              0              0
  82  Drawer          1.116          0.792          0.367          0              0              0
  83  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  86  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  87  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  88  Fridge          -1.300         0.008          0.987          0              90             0
  89  GarbageCan      1.296          -0.024         1.465          0              0              0
  90  Window          -0.012         1.641          -0.972         90             0              0
  91  Window          1.598          1.646          2.489          90             270            0
  92  Toaster         1.356          0.900          1.044          0              270            0
  93  LightSwitch     0.118          1.353          3.799          0              180            0
  94  Microwave       -1.343         0.900          0.053          0              90             0
  95  SinkBasin       -0.029         0.748          -0.612         0              0              0
  96  Faucet          -0.026         0.927          -0.808         0              0              0
  97  Shelf           -1.182         0.127          2.414          0              90             0
  98  Stool           1.140          0.007          3.262          1.206          20.753         0
  99  Shelf           -1.182         0.435          2.414          0              90             0
 100  DiningTable     1.169          0.014          2.569          0              0              1.896
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Turn left, go forward, turn right and go to the counter | STEP 2: Pick up the tomato on the counter | STEP 3: Turn left, go forward a bit, turn left, go to the fridge | STEP 4: Put the tomato in the fridge, wait, pick up the tomato | STEP 5: Turn left, go to the counter, turn right in front of of the microwave | STEP 6: Put the tomato in the microwave | END