Task: put a cooked tomato on a black shelf

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           0.869          -1.25          0              180            0
   1  Potato          0.824          0.498          -2.190         0              270            0              61
   2  DishSponge      -1.620         0.699          -3.698         0              0              0              68
   3  ButterKnife     -1.719         0.701          -1.199         0              0              0              77
   4  Spoon           0.950          0.884          -0.245         0              0              0              41
   5  Egg             0.582          0.920          -0.314         0              0              0              41
   6  Cup             -0.252         0.899          0.929          0              270            0              67
   7  Cup             0.621          0.014          -0.184         0              0              0              51
   8  Tomato          0.841          0.713          0.387          0              0              0              46
   9  Tomato          -1.261         0.100          -3.537         0              270            0              56
  10  SoapBottle      -2.054         0.701          -0.983         0              0              0              77
  11  Bowl            0.746          0.663          -2.113         0              270            0              61
  12  PepperShaker    0.961          0.660          0.387          0              0              0              46
  13  PepperShaker    0.787          0.012          -0.250         0              0              0              51
  14  SaltShaker      0.961          0.661          0.630          0              0              0              46
  15  Bread           -1.056         0.944          0.929          0              270            0              67
  16  Bread           0.661          0.708          0.508          0              0              0              46
  17  Lettuce         0.785          0.751          -1.802         0              270            0              61
  18  Mug             0.698          0.941          -1.360         0              270            0              54
  19  Pot             -2.071         0.927          0.772          0              266.284        0              43
  20  Plate           -2.023         0.692          -1.447         0              0              0              77
  21  Fork            -1.056         0.901          1.015          0              90             0              67
  22  SoapBottle      -1.578         0.695          -3.361         0              0              0              68
  23  Apple           0.655          0.937          -0.245         0              0              0              41
  24  Pan             -1.555         0.930          1.049          0              0              0              50
  25  Egg             -1.260         0.088          -3.647         0              270            0              56
  26  Spatula         0.672          0.787          -0.845         0              180            0              64
  27  Potato          0.715          0.805          -0.570         0              270            0              64
  28  Cup             0.621          0.014          -0.768         0              0              0              44
  29  SaltShaker      0.732          0.012          -0.315         0              0              0              51
  30  PepperShaker    1.024          0.879          0.098          0              0              0              41
  31  ButterKnife     -1.719         0.701          -1.524         0              0              0              77
  32  DishSponge      -1.886         0.701          -0.983         0              0              0              77
  33  Bread           0.149          0.944          0.929          0              270            0              67
  34  Lettuce         0.757          0.859          -0.735         0              270            0              64
  35  Tomato          -0.051         0.949          1.101          0              270            0              67
  36  Spoon           0.877          0.884          -0.108         0              0              0              41
  37  Knife           0.720          0.782          0.002          0              270            0              40
  38  Mug             -0.252         0.895          1.101          0              270            0              67
  39  Bowl            0.746          1.157          -1.880         0              270            0              61
  40  Drawer          0.706          0.766          -0.125         0              0              0
  41  CounterTop      0.792          0.919          -0.108         0              0              0
  42  Mirror          1.093          1.602          -0.643         0              0              0
  43  StoveBurner     -2.096         0.890          0.785          0              0              0
  44  Cabinet         0.507          0.345          -0.426         0              0              0
  45  StoveBurner     -1.552         0.890          0.785          0              0              0
  46  SideTable       0.770          -0.030         0.443          0              0              0
  47  Sink            0.753          0.882          -0.680         0              0              0
  48  StoveBurner     -2.096         0.890          1.049          0              0              0
  49  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  50  StoveBurner     -1.554         0.890          1.049          0              0              0
  51  Cabinet         0.507          0.345          0.156          0              0              0
  52  Cabinet         0.717          1.822          -0.398         0              0              0
  53  Cabinet         0.717          1.822          0.669          0              0              0
  54  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  55  Toaster         -0.522         0.886          1.081          0              180            0
  56  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  57  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  59  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  61  Fridge          0.680          -0.031         -1.957         0              0              0
  62  Window          -2.424         1.639          -2.453         90             270            0
  63  Microwave       -1.994         0.690          -3.651         0              0              0
  64  SinkBasin       0.757          0.762          -0.688         0              270            0
  65  LightSwitch     1.102          1.368          -3.737         0              270            0
  66  Shelf           -0.350         0.124          0.857          0              0              0
  67  DiningTable     -0.350         -0.025         0.857          0              0              0
  68  DiningTable     -1.909         -0.032         -3.507         0              0              0
  69  Blinds          -2.343         2.151          -2.437         0              270            0
  70  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  71  AluminumFoil    0.751          0.225          0.287          0              0              0
  72  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  73  Shelf           0.771          0.226          0.445          0              0              0
  74  Shelf           0.771          0.456          0.446          0              0              0
  75  Faucet          1.025          0.873          -0.678         270            180            0
  76  Shelf           -0.350         0.497          0.857          0              0              0
  77  DiningTable     -1.929         -0.035         -1.398         0              90             0
  78  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: walk around to face white table | STEP 2: pick up tomato from table | STEP 3: turn around to face microwave | STEP 4: cook tomato in microwave, pick up tomato from microwave | STEP 5: walk to face small black shelves to the left of the sink | STEP 6: put the tomato on top of the black shelves | END