Task: Heat a tomato and place it on a table.

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           0.900          3.0            0              270            0
   1  Pan             2.605          0.764          4.334          0              225            0              56
   2  DishSponge      2.662          0.764          3.455          0              329.999        0              56
   3  ButterKnife     2.138          0.764          3.762          0              225            0              56
   4  WineBottle      -0.858         0.335          -0.295         0              90             0              99
   5  Glassbottle     2.579          0.765          4.044          0              329.999        0              56
   6  Spatula         2.790          1.041          0.068          0              180            0              55
   7  Spatula         -0.714         0.831          1.337          0              180            0              112
   8  Fork            2.681          0.801          0.867          0              47.0           0              67
   9  Fork            -0.544         1.028          2.311          0              0              0              58
  10  Egg             -0.782         0.860          1.181          0              90             0              112
  11  Egg             -0.645         0.860          1.103          0              90             0              112
  12  Cup             -0.947         0.784          -0.516         0              90             0              99
  13  Cup             2.790          0.763          3.529          0              329.999        0              56
  14  Plate           2.346          0.764          4.074          0              225            0              56
  15  Knife           -0.519         0.825          0.615          0              0              0              57
  16  Knife           -0.714         0.841          1.259          0              180            0              112
  17  Tomato          -0.877         1.495          -0.184         0              90             0              99
  18  Tomato          -1.038         0.130          2.842          0              0              0              110
  19  SoapBottle      2.451          0.763          3.821          0              270            0              56
  20  Bowl            2.959          1.025          -0.846         0              0              0              55
  21  Bowl            2.506          0.762          3.577          0              329.999        0              56
  22  SaltShaker      1.801          0.797          1.627          0              317.0          0              70
  23  PepperShaker    2.228          0.760          3.97           0              0              0              56
  24  PepperShaker    2.632          0.797          0.822          0              317.0          0              67
  25  Lettuce         -0.851         0.874          1.414          0              90             0              112
  26  Mug             2.302          0.759          4.32           0              0              0              56
  27  Pan             1.836          1.027          -1.84          0              90             0              53
  28  Glassbottle     2.735          0.765          3.922          0              329.999        0              56
  29  Knife           2.976          0.789          4.044          0              270            0              56
  30  SoapBottle      -0.669         1.026          2.311          0              0              0              58
  31  Egg             -0.782         0.860          1.570          0              90             0              112
  32  Fork            2.651          0.801          -0.221         0              0              0              55
  33  Potato          1.230          1.068          -1.667         0              90             0              55
  34  Ladle           -0.794         1.066          2.556          0              0              0              58
  35  Tomato          2.166          0.818          3.475          0              225            0              56
  36  Pot             1.334          0.023          -1.670         0              270            0              74
  37  WineBottle      1.743          1.027          1.802          0              136.999        0              55
  38  Plate           1.409          1.027          -1.881         0              90             0              55
  39  Spatula         -0.669         1.042          0.600          0              180            0              58
  40  PaperTowelRoll  -1.171         1.131          1.821          0              0              0              58
  41  Lettuce         2.621          1.085          -1.151         0              0              0              55
  42  Apple           -0.418         1.077          2.434          0              0              0              58
  43  SaltShaker      2.169          2.275          -1.793         0              0              0              83
  44  PepperShaker    2.874          0.796          -0.792         0              0              0              64
  45  ButterKnife     2.100          0.764          4.044          0              270            0              56
  46  Bread           2.706          1.094          -0.236         0              0              0              55
  47  Cup             2.893          1.025          1.200          0              136.999        0              55
  48  DishSponge      2.645          0.032          -0.323         0              0              0              81
  49  Bowl            1.409          1.025          -1.560         0              90             0              55
  50  Spoon           2.231          1.028          1.699          0              136.999        0              55
  51  Mug             2.451          0.759          4.32           0              0              0              56
  52  Sink            -0.716         1.023          1.333          0              0              0
  53  StoveBurner     1.835          1.018          -1.840         0              90             0
  54  StoveBurner     2.177          1.018          -1.599         0              0              0
  55  CounterTop      2.812          0.992          0.675          0              0              0
  56  DiningTable     2.419          0.003          3.930          0              0              0
  57  Drawer          -0.643         0.828          0.616          0              0              0
  58  CounterTop      -0.813         1.062          2.188          0              0              0
  59  StoveBurner     2.115          1.018          -1.840         0              270            0
  60  Drawer          -0.643         0.831          1.953          0              0              0
  61  Drawer          -0.643         0.833          2.418          0              0              0
  62  Drawer          1.347          0.836          -1.539         0              0              0
  63  Drawer          2.693          0.833          -1.131         0              0              0
  64  Drawer          2.693          0.833          -0.699         0              0              0
  65  Drawer          2.693          0.833          -0.267         0              0              0
  66  Drawer          2.693          0.833          0.163          0              0              0
  67  Drawer          2.524          0.833          0.720          0              2.000          0
  68  Drawer          2.232          0.833          1.036          0              2.000          0
  69  Drawer          1.936          0.833          1.354          0              2.000          0
  70  Drawer          1.646          0.833          1.670          0              2.000          0
  71  Cabinet         1.504          2.475          -1.710         0              0              0
  72  Cabinet         -0.823         2.220          1.621          0              0              0
  73  Cabinet         -0.823         2.220          0.615          0              0              0
  74  Cabinet         1.136          0.388          -1.355         0              0              0
  75  Cabinet         -0.356         0.383          2.626          0              0              0
  76  Cabinet         2.745          2.220          -1.690         0              0              0
  77  Cabinet         1.882          0.383          1.017          0              0              0
  78  Cabinet         1.307          0.473          1.640          0              0              0
  79  Cabinet         1.892          0.383          1.006          0              0              0
  80  Cabinet         2.467          0.383          0.383          0              0              0
  81  Cabinet         2.466          0.383          -0.475         0              0              0
  82  Cabinet         2.466          0.473          0.371          0              0              0
  83  Cabinet         2.386          2.475          -1.710         0              0              0
  84  Cabinet         -0.356         0.383          1.712          0              0              0
  85  Cabinet         2.745          2.220          0.019          0              0              0
  86  Cabinet         -0.663         2.496          0.157          0              0              0
  87  Cabinet         -0.663         2.496          -0.868         0              0              0
  88  Cabinet         -0.356         0.383          0.269          0              0              0
  89  Cabinet         -0.823         2.220          1.603          0              0              0
  90  Cabinet         -0.662         2.234          0.586          0              0              0
  91  Cabinet         2.745          2.220          -0.843         0              0              0
  92  Cabinet         2.745          2.220          -0.827         0              0              0
  93  Cabinet         -0.823         2.220          2.608          0              0              0
  94  Cabinet         2.732          2.226          -1.709         0              0              0
  95  Cabinet         1.137          2.226          -1.709         0              0              0
  96  Cabinet         2.466          0.383          -0.491         0              0              0
  97  Cabinet         2.466          0.383          -1.339         0              0              0
  98  StoveBurner     1.761          1.018          -1.599         0              0              0
  99  Fridge          -0.908         0.0            -0.405         0              0              0
 100  HousePlant      2.517          1.016          1.822          0              0              0
 101  Microwave       1.939          1.745          -1.826         0              0              0
 102  StoveKnob       2.017          1.041          -1.514         0              180            180
 103  StoveKnob       1.934          1.041          -1.514         0              180            180
 104  StoveKnob       2.017          1.041          -1.589         0              180            180
 105  StoveKnob       1.934          1.041          -1.589         0              180            180
 106  Window          1.756          1.608          4.762          90             0              0
 107  HousePlant      2.171          1.004          2.091          0              0              0
 108  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 109  LightSwitch     -0.099         1.410          -2.066         0              0              0
 110  GarbageCan      -0.951         -0.029         2.826          0              0              0
 111  Toaster         -1.007         1.018          2.238          0              90             0
 112  SinkBasin       -0.714         0.805          1.348          0              90             0
 113  Chair           1.615          0.004          4.310          0              107.976        0
 114  Faucet          -1.120         1.013          1.334          0              90             0
 115  Chair           2.759          0.004          3.086          0              358.967        0
 116
 117  NorthWall
 118  EastWall
 119  SouthWall
 120  WestWall

Plan:
STEP 1: Turn around and go forward, and face the white table on the left. | STEP 2: Pick up the tomato at the front of the table. | STEP 3: Take the tomato and turn around. Go straight back, and turn left to locate the stove. | STEP 4: Place the tomato in the microwave and turn it on. Take out the tomato and shut the door. | STEP 5: Hold the tomato and turn around, then right to find the white table on the left. | STEP 6: Place the tomato on the table in the front. | END