Task: To heat a tomato and place it in the fridge.

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          0.900          1.25           0              180            0
   1  Pan             1.328          0.957          -1.420         0              180            0              56
   2  Pan             0.079          1.571          2.040          0              180            0              77
   3  Potato          0.289          0.965          -1.573         0              270            0              49
   4  Spatula         -3.017         0.889          3.580          0              135            0              54
   5  Pot             1.328          0.957          -1.688         0              180            0              55
   6  Fork            -2.510         0.879          2.715          0              0              0              54
   7  Fork            -1.961         0.912          -0.614         0              0              0              52
   8  Spoon           -2.405         0.875          3.685          0              225            0              54
   9  Egg             -0.035         0.414          2.112          0              180            0              77
  10  Egg             0.193          0.414          2.112          0              180            0              77
  11  Cup             -3.174         0.876          3.021          0              225            0              54
  12  Knife           -0.040         0.950          -1.646         0              270            0              49
  13  Knife           -2.436         0.896          3.053          0              90             0              54
  14  SoapBottle      -2.420         0.879          3.460          0              225            0              54
  15  Tomato          -2.539         0.925          3.341          0              225            0              54
  16  Tomato          -2.262         0.922          3.303          0              225            0              54
  17  PepperShaker    1.614          0.906          -1.437         0              0              0              72
  18  Bread           -1.738         0.995          -1.265         0              0              0              52
  19  Lettuce         -2.577         0.939          3.618          0              225            0              54
  20  Book            0.617          0.908          -1.674         0              0              0              52
  21  Fork            -2.733         0.875          2.715          0              0              0              54
  22  Tomato          -1.961         0.959          -0.288         0              0              0              52
  23  Egg             0.193          0.828          2.023          0              180            0              77
  24  Kettle          -3.165         0.879          3.221          0              270            0              54
  25  Vase            3.671          0.168          1.841          0              0              0              75
  26  Cup             0.193          0.801          2.308          0              180            0              77
  27  WineBottle      -1.378         0.913          -1.572         0              0              0              52
  28  Plate           0.124          0.934          -1.718         0              270            0              49
  29  Spatula         -1.682         0.734          -1.001         0              90             0              67
  30  Potato          -0.923         0.229          2.058          0              90             0              82
  31  Pot             3.637          0.555          1.449          0              270            0              75
  32  Knife           -2.606         0.896          3.274          0              225            0              54
  33  SaltShaker      3.634          0.877          1.656          0              270            0              73
  34  PepperShaker    -2.807         0.874          2.884          0              0              0              54
  35  Lettuce         -2.353         0.939          2.811          0              135            0              54
  36  ButterKnife     -1.738         0.912          0.037          0              0              0              52
  37  Bread           -1.601         0.980          -0.837         0              334.888        0              52
  38  Vase            -1.378         0.913          -1.776         0              0              0              52
  39  DishSponge      1.687          0.909          -1.346         0              0              0              72
  40  Apple           -0.035         0.444          1.996          0              180            0              77
  41  Pan             -2.072         0.911          -1.265         0              0              0              52
  42  Spoon           -2.248         0.879          3.527          0              225            0              54
  43  SoapBottle      0.617          0.912          -1.471         0              270            0              52
  44  Mug             -1.444         1.652          -1.784         0              0              0              65
  45  Statue          3.676          0.168          1.410          0              334.521        0              75
  46  Statue          3.668          0.540          1.800          0              0              0              75
  47  Bowl            0.997          2.154          -1.710         0              0              0              66
  48  Cabinet         -2.171         2.009          -1.538         0              0              0
  49  Sink            0.024          0.771          -1.708         0              270            0
  50  Cabinet         1.444          2.259          -1.542         0              0              0
  51  StoveBurner     0.974          0.957          -1.688         0              180            0
  52  CounterTop      -1.866         0.947          -0.614         0              0              0
  53  Cabinet         -2.217         0.373          -1.874         0              0              0
  54  DiningTable     -2.663         0.002          3.208          0              0              0
  55  StoveBurner     1.328          0.957          -1.688         0              180            0
  56  StoveBurner     1.328          0.957          -1.420         0              180            0
  57  Cabinet         -1.478         0.373          -1.235         0              0              0
  58  Cabinet         1.775          0.372          -1.242         0              0              0
  59  Cabinet         0.774          0.372          -1.242         0              0              0
  60  Cabinet         0.375          0.372          -1.242         0              0              0
  61  Cabinet         -0.574         0.372          -1.238         0              0              0
  62  Cabinet         1.775          2.009          -1.542         0              0              0
  63  Cabinet         0.524          2.009          -1.542         0              0              0
  64  Cabinet         -0.714         2.009          -1.542         0              0              0
  65  Cabinet         -1.671         2.009          -1.538         0              0              0
  66  Cabinet         0.854          2.259          -1.542         0              0              0
  67  Drawer          -1.636         0.683          -0.930         0              0              0
  68  Drawer          1.650          0.682          -1.396         0              0              0
  69  Drawer          0.600          0.682          -1.396         0              0              0
  70  StoveBurner     0.974          0.957          -1.419         0              180            0
  71  Drawer          -2.062         0.683          -1.579         0              0              0
  72  CounterTop      1.645          0.945          -1.527         0              0              0
  73  Shelf           3.725          0.880          1.671          0              90             0
  74  LightSwitch     2.830          1.266          -0.748         0              0              0
  75  Shelf           3.726          0.552          1.671          0              90             0
  76  Microwave       1.150          1.655          -1.614         0              0              0
  77  Fridge          -0.035         0.0            2.177          0              180            0
  78  Window          -0.115         1.802          -1.896         90             0              0
  79  Window          -4.009         1.799          0.310          90             90             0
  80  Shelf           3.726          0.172          1.671          0              90             0
  81  SinkBasin       -0.330         0.686          -1.581         0              270            0
  82  GarbageCan      -0.870         -0.001         2.136          0              90             0
  83  StoveKnob       1.089          0.913          -1.243         45             0              0
  84  StoveKnob       1.208          0.913          -1.243         45             0              0
  85  StoveKnob       1.340          0.913          -1.243         45             0              0
  86  StoveKnob       0.961          0.913          -1.243         45             0              0
  87  Toaster         1.637          0.900          -1.673         0              0              0
  88  Chair           -3.505         0.002          3.290          0              105.736        0
  89  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  90  HousePlant      -2.663         0.835          3.209          0              0              0
  91  Faucet          -0.187         0.922          -1.75          0              311.166        0
  92  ShelvingUnit    3.726          0.006          1.671          0              90             0
  93  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  94  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  95  Chair           -2.934         0.002          2.437          0              28.531         0
  96  Chair           -1.698         0.002          3.235          0              245.204        0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Walk around the right side of the counter and turn left to face the tomato on the counter. | STEP 2: Pick up the tomato on the counter. | STEP 3: Walk around the counter and to the right to face the microwave over the stove. | STEP 4: Heat the tomato in the microwave and remove it. | STEP 5: Turn around and walk forward to face the fridge. | STEP 6: Place the tomato in the fridge. | END