Task: heat the tomato in the microwave, put the tomato in the sink

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          0.931          0.75           0              270            0
   1  Pan             0.801          0.199          -1.339         0              270            0              55
   2  Potato          -1.234         1.281          1.796          0              90             0              59
   3  Potato          -1.381         1.542          2.153          0              90             0              59
   4  ButterKnife     1.015          1.043          0.807          0              0              0              46
   5  ButterKnife     0.823          1.046          -1.397         0              0              0              44
   6  Kettle          0.120          1.053          -1.630         0              0              0              47
   7  Pot             1.743          1.021          -1.557         0              90             0              50
   8  Fork            0.906          1.047          -1.181         0              0              0              44
   9  Fork            -0.346         1.047          -1.612         0              0              0              44
  10  Spoon           -0.517         1.048          -1.289         0              270            0              44
  11  Spatula         -0.038         1.061          -1.118         0              0              0              44
  12  Spatula         0.980          1.068          0.131          0              90             0              42
  13  Knife           -0.346         1.072          -1.181         0              0              0              44
  14  SoapBottle      -0.260         1.047          -1.612         0              0              0              44
  15  Bowl            1.155          1.045          -1.181         0              0              0              44
  16  PepperShaker    1.588          0.199          -1.335         0              0              0              54
  17  PepperShaker    1.612          1.038          0.307          0              0              0              46
  18  SoapBottle      0.848          1.044          0.632          0              0              0              46
  19  Apple           1.271          0.936          0.304          0              90             0              41
  20  Potato          -1.034         1.017          2.331          0              180            0              59
  21  Fork            0.848          1.054          0.131          0              0              0              42
  22  Kettle          0.885          1.566          -1.538         0              0              0              48
  23  Pan             0.965          1.035          -1.66          0              290.450        0              44
  24  Tomato          -0.775         1.097          -1.181         0              0              0              44
  25  SaltShaker      0.446          1.038          0.738          0              0              0              46
  26  Egg             -1.276         1.768          1.974          0              90             0              59
  27  Cup             1.894          0.205          -1.335         0              0              0              54
  28  Spatula         -0.775         1.061          -1.828         0              90             0              44
  29  Knife           0.160          1.069          0.415          0              90             0              46
  30  Lettuce         -0.603         1.106          -1.289         0              0              0              44
  31  ButterKnife     0.848          1.053          0.181          0              90             0              42
  32  PepperShaker    0.351          1.038          0.630          0              0              0              46
  33  DishSponge      1.743          1.019          -1.191         0              0              0              50
  34  Plate           -1.339         0.215          -1.555         0              0              0              52
  35  Bread           0.405          1.104          0.352          0              337.138        0              46
  36  Spoon           1.701          1.044          0.630          0              0              0              46
  37  Pot             0.5            1.057          -1.4           0              0              0              45
  38  Mug             -1.366         1.223          2.153          0              90             0              59
  39  Bowl            1.112          1.563          -1.538         0              0              0              48
  40  StoveBurner     0.389          1.043          -1.630         0              0              0
  41  SinkBasin       1.211          0.882          0.236          0              90             0
  42  Sink            0.928          0.941          0.324          0              90             0
  43  StoveBurner     0.000          1.048          -1.399         0              0              0
  44  CounterTop      0.196          1.082          -1.504         0              0              0
  45  StoveBurner     0.5            1.048          -1.399         0              0              0
  46  CounterTop      0.968          1.078          0.415          0              0              0
  47  StoveBurner     0.120          1.043          -1.630         0              0              0
  48  Cabinet         1.322          1.955          -1.309         0              0              0
  49  Cabinet         -0.866         1.955          -1.309         0              0              0
  50  Cabinet         1.993          1.403          -1.110         0              0              0
  51  Cabinet         -1.547         2.001          -1.110         0              0              0
  52  Cabinet         -1.526         0.593          -1.110         0              0              0
  53  Cabinet         -0.852         0.589          -1.110         0              0              0
  54  Cabinet         1.990          0.593          -1.110         0              0              0
  55  Cabinet         1.336          0.589          -1.110         0              0              0
  56  StoveBurner     0.250          1.048          -1.399         0              0              0
  57  Toaster         -0.550         1.035          -1.776         0              0              0
  58  Microwave       -1.189         1.624          -1.284         0              0              0
  59  Fridge          -1.286         0.020          1.832          0              90             0
  60  GarbageCan      1.856          -0.019         2.386          0              270            0
  61  LightSwitch     1.016          1.360          2.619          0              180            0
  62  CoffeeMachine   1.929          1.031          0.440          0              270            0
  63  StoveKnob       0.0            1.046          -1.220         0              0              0
  64  StoveKnob       0.090          1.046          -1.220         0              0              0
  65  StoveKnob       0.246          1.046          -1.220         0              0              0
  66  StoveKnob       0.490          1.046          -1.220         0              0              0
  67  StoveKnob       0.389          1.046          -1.220         0              0              0
  68  Faucet          1.277          1.265          0.384          0              90             0
  69  Chair           0.343          0.031          0.976          0              166.747        0
  70  Chair           1.008          0.031          1.034          0              180            0
  71  Chair           1.575          0.031          1.050          0              210.000        0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: turn left, walk to the counter | STEP 2: grab the tomato on the counter | STEP 3: walk to the right a little | STEP 4: heat the tomato with the microwave, take the tomato out | STEP 5: turn left, walk to the sink on the left | STEP 6: put the tomato in the sink | END