Task: Heat the tomato and set it 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           -0.5           0.931          -0.5           0              90             0
   1  Potato          -1.423         1.766          2.331          0              90             0              51
   2  DishSponge      0.823          1.046          -1.181         0              0              0              36
   3  ButterKnife     -0.603         1.046          -1.397         0              0              0              36
   4  Kettle          0.120          1.053          -1.630         0              0              0              39
   5  Kettle          1.588          0.205          -1.408         0              0              0              46
   6  Egg             -1.095         1.018          2.153          0              90             0              51
   7  Egg             -1.312         1.768          2.153          0              90             0              51
   8  Knife           0.351          1.069          0.738          0              0              0              38
   9  SoapBottle      0.936          1.056          0.281          0              90             0              34
  10  SoapBottle      1.068          0.200          -1.556         0              0              0              47
  11  Apple           0.717          1.097          0.231          0              90             0              34
  12  Potato          0.542          1.096          0.091          0              0              0              38
  13  Fork            0.761          1.054          0.281          0              90             0              34
  14  Kettle          -1.027         0.203          -1.410         0              0              0              44
  15  Pan             -1.342         1.488          2.063          0              180            0              51
  16  Tomato          -0.775         1.097          -1.720         0              0              0              36
  17  SaltShaker      0.801          0.194          -1.339         0              0              0              47
  18  Egg             1.854          0.177          2.442          0              270            0              52
  19  Cup             -1.261         0.202          -1.627         0              0              0              44
  20  Spatula         -0.432         1.061          -1.397         0              90             0              36
  21  Knife           1.514          1.069          0.001          0              0              0              38
  22  Lettuce         0.542          1.103          0.630          0              0              0              38
  23  ButterKnife     -0.177         1.046          -1.107         0              0              0              36
  24  PepperShaker    -1.184         2.023          -1.482         0              0              0              43
  25  DishSponge      1.589          1.019          -1.337         0              0              0              42
  26  Plate           1.512          1.032          -1.557         0              0              0              42
  27  Bread           0.405          1.104          0.352          0              337.138        0              38
  28  Spoon           1.514          1.044          0.720          0              0              0              38
  29  Pot             0.5            1.057          -1.4           0              0              0              37
  30  Mug             -1.051         0.702          1.885          0              90             0              51
  31  Bowl            1.743          1.018          -1.557         0              0              0              42
  32  StoveBurner     0.389          1.043          -1.630         0              0              0
  33  SinkBasin       1.211          0.882          0.236          0              90             0
  34  Sink            0.928          0.941          0.324          0              90             0
  35  StoveBurner     0.000          1.048          -1.399         0              0              0
  36  CounterTop      0.196          1.082          -1.504         0              0              0
  37  StoveBurner     0.5            1.048          -1.399         0              0              0
  38  CounterTop      0.968          1.078          0.415          0              0              0
  39  StoveBurner     0.120          1.043          -1.630         0              0              0
  40  Cabinet         1.322          1.955          -1.309         0              0              0
  41  Cabinet         -0.866         1.955          -1.309         0              0              0
  42  Cabinet         1.993          1.403          -1.110         0              0              0
  43  Cabinet         -1.547         2.001          -1.110         0              0              0
  44  Cabinet         -1.526         0.593          -1.110         0              0              0
  45  Cabinet         -0.852         0.589          -1.110         0              0              0
  46  Cabinet         1.990          0.593          -1.110         0              0              0
  47  Cabinet         1.336          0.589          -1.110         0              0              0
  48  StoveBurner     0.250          1.048          -1.399         0              0              0
  49  Toaster         -0.550         1.035          -1.776         0              0              0
  50  Microwave       -1.189         1.624          -1.284         0              0              0
  51  Fridge          -1.286         0.020          1.832          0              90             0
  52  GarbageCan      1.856          -0.019         2.386          0              270            0
  53  LightSwitch     1.016          1.360          2.619          0              180            0
  54  CoffeeMachine   1.929          1.031          0.440          0              270            0
  55  StoveKnob       0.0            1.046          -1.220         0              0              0
  56  StoveKnob       0.090          1.046          -1.220         0              0              0
  57  StoveKnob       0.246          1.046          -1.220         0              0              0
  58  StoveKnob       0.490          1.046          -1.220         0              0              0
  59  StoveKnob       0.389          1.046          -1.220         0              0              0
  60  Faucet          1.277          1.265          0.384          0              90             0
  61  Chair           0.343          0.031          0.976          0              166.747        0
  62  Chair           1.008          0.031          1.034          0              180            0
  63  Chair           1.575          0.031          1.050          0              210.000        0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Turn right to near the toaster. | STEP 2: Pick up the tomato off of the counter. | STEP 3: Go to the microwave on the right. | STEP 4: Open the microwave, heat the tomato and take the tomato out. | STEP 5: Turn left and take the tomato to the sink. | STEP 6: Set the tomato in the sink. | END