Task: get tomato, heat it in microwave, put it in fridge

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          7.25           0              180            0
   1  Potato          -0.034         0.794          6.323          0              0              0              93
   2  Potato          -0.221         0.794          6.787          0              0              0              93
   3  DishSponge      1.135          0.992          4.808          0              0              0              58
   4  DishSponge      0.696          0.992          0.578          0              0              0              57
   5  Kettle          0.305          0.761          6.604          0              270            0              93
   6  Pot             1.317          0.988          4.294          0              0              0              52
   7  Spoon           -0.356         0.761          6.458          0              225            0              93
   8  Fork            0.938          0.772          0.395          0              90             0              49
   9  Egg             1.966          1.565          5.376          0              270            0              79
  10  Cup             1.276          0.886          1.983          0              90             0              80
  11  Cup             -0.332         0.756          6.217          0              225            0              93
  12  Plate           1.495          2.207          4.175          0              0              0              45
  13  Knife           0.532          0.802          0.563          0              270            0              49
  14  Tomato          1.497          0.940          2.034          0              90             0              80
  15  Tomato          -0.003         0.809          6.541          0              270            0              93
  16  SoapBottle      -0.687         0.992          0.303          0              0              0              57
  17  PepperShaker    -0.466         0.755          6.609          0              135            0              93
  18  PepperShaker    0.815          0.138          0.418          0              0              0              63
  19  SaltShaker      0.256          0.755          6.240          0              135            0              93
  20  SaltShaker      1.143          0.136          4.763          0              0              0              59
  21  Bread           -0.535         1.062          0.395          0              0              0              57
  22  Bowl            1.079          1.578          0.251          0              0              0              64
  23  Bread           -0.378         0.829          6.698          0              135            0              93
  24  Egg             -0.034         0.810          6.014          0              0              0              93
  25  Knife           1.493          1.022          3.417          0              0              0              57
  26  Fork            -0.413         0.772          0.507          0              0              0              53
  27  Apple           1.966          1.590          5.751          0              270            0              79
  28  Kettle          1.559          0.988          4.294          0              0              0              55
  29  Plate           1.573          0.141          1.864          0              0              0              46
  30  SaltShaker      0.885          0.138          0.339          0              0              0              63
  31  Lettuce         0.169          0.848          6.807          0              225            0              93
  32  SoapBottle      1.135          0.992          4.670          0              0              0              58
  33  Spatula         -0.384         1.007          0.395          0              90             0              57
  34  PaperTowelRoll  0.150          0.864          6.291          0              270            0              93
  35  Pot             1.493          0.994          0.440          0              0              0              57
  36  Potato          1.966          1.550          5.626          0              270            0              79
  37  ButterKnife     1.493          0.992          3.137          0              0              0              57
  38  PepperShaker    -0.180         0.755          6.677          0              315            0              93
  39  Pan             1.314          0.139          4.724          0              270            0              59
  40  Tomato          -0.003         0.809          6.666          0              270            0              93
  41  DishSponge      0.847          0.992          0.395          0              0              0              57
  42  Cup             2.051          1.511          5.876          0              270            0              79
  43  Spoon           -0.284         0.761          6.014          0              0              0              93
  44  Mug             0.036          0.755          6.940          0              225            0              93
  45  Cabinet         1.307          2.455          4.360          0              0              0
  46  Cabinet         1.054          0.422          1.710          0              0              0
  47  Drawer          1.280          0.808          4.718          0              0              0
  48  Cabinet         1.307          2.455          3.607          0              0              0
  49  Drawer          0.736          0.802          0.521          0              0              0
  50  Drawer          1.276          0.802          3.291          0              0              0
  51  StoveBurner     1.562          0.982          3.848          0              0              0
  52  StoveBurner     1.317          0.982          4.294          0              0              0
  53  Drawer          -0.482         0.802          0.521          0              0              0
  54  Drawer          0.124          0.802          0.521          0              0              0
  55  StoveBurner     1.559          0.982          4.294          0              0              0
  56  StoveBurner     1.320          0.982          3.848          0              0              0
  57  CounterTop      1.391          1.028          0.897          0              0              0
  58  CounterTop      1.391          1.028          4.716          0              0              0
  59  Cabinet         1.054          0.422          4.548          0              0              0
  60  Cabinet         1.317          2.134          0.517          0              0              0
  61  Cabinet         1.317          2.134          4.889          0              0              0
  62  Cabinet         1.317          2.134          3.095          0              0              0
  63  Cabinet         0.443          0.422          0.743          0              0              0
  64  Cabinet         1.270          2.134          0.434          0              0              0
  65  Cabinet         -0.775         0.422          0.743          0              0              0
  66  Cabinet         -0.168         0.422          0.743          0              0              0
  67  Cabinet         1.317          2.134          1.534          0              0              0
  68  Cabinet         1.054          0.422          2.990          0              0              0
  69  Cabinet         1.054          0.422          2.944          0              0              0
  70  Cabinet         -0.263         2.134          0.434          0              0              0
  71  Cabinet         0.252          2.134          0.434          0              0              0
  72  Sink            1.391          1.006          2.326          0              0              0
  73  Microwave       0.108          0.981          0.262          0              0              0
  74  HousePlant      -0.165         0.826          6.444          0              0              0
  75  CoffeeMachine   1.551          0.982          0.953          0              270            0
  76  Toaster         1.473          0.981          4.715          0              270            0
  77  Window          -2.065         1.916          3.626          90             90             0
  78  Window          1.763          2.007          2.299          90             270            0
  79  Fridge          2.035          0.0            5.625          0              0              0
  80  SinkBasin       1.387          0.880          2.338          0              90             0
  81  GarbageCan      2.001          -0.044         6.503          0              0              0
  82  StoveKnob       1.140          0.934          3.987          45             270            0
  83  StoveKnob       1.140          0.934          4.309          45             270            0
  84  StoveKnob       1.140          0.934          4.140          45             270            0
  85  StoveKnob       1.140          0.934          3.824          45             270            0
  86  Vase            -0.226         0.834          6.993          0              0              0
  87  Vase            2.098          0.043          7.070          0              257.232        0
  88  Vase            -0.594         0.835          6.130          0              225            0
  89  LightSwitch     -2.0           1.549          6.045          0              90             0
  90  Safe            2.046          1.072          7.054          0              257.232        0
  91  Faucet          1.534          1.025          2.371          0              294.391        0
  92  Blinds          1.738          2.563          2.312          0              90             0
  93  DiningTable     -0.156         0.000          6.474          0              0              0
  94  Chair           0.291          0.002          6.142          0              310.162        0
  95  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: walk straight into the kitchen and turn left to face the kitchen sink | STEP 2: pick up the tomato in the sink | STEP 3: turn right, walk to microwave, turn to face microwave | STEP 4: open door, put in tomato, close door, cook tomato, open door, pick up tomato | STEP 5: turn left, walk through kitchen to fridge, turn right to face fridge | STEP 6: open fridge, put tomato on shelf to the left of the brown egg, close door | END