Task: Put a chilled tomato in a sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          0.5            0              180            0
   1  Pan             0.678          0.964          1.345          0              0              0              85
   2  Potato          2.777          1.053          -0.840         0              0              0              102
   3  ButterKnife     2.221          0.911          1.383          0              0              0              82
   4  ButterKnife     0.053          0.765          -0.596         0              0              0              104
   5  Pot             0.281          0.964          1.347          0              0              0              62
   6  Spoon           -0.103         0.912          1.468          0              0              0              58
   7  Fork            1.558          0.771          -0.498         0              90             0              77
   8  Spatula         0.888          0.926          -0.345         0              0              0              47
   9  Spatula         -0.157         0.780          -0.707         0              90             0              104
  10  Cup             2.591          1.016          -0.578         0              0              0              102
  11  Egg             -0.007         0.949          1.553          0              0              0              58
  12  Knife           -0.766         0.853          -1.257         0              90             0              106
  13  SoapBottle      2.479          0.120          1.077          0              0              0              51
  14  Tomato          -2.048         0.455          1.459          0              270            0              100
  15  SaltShaker      1.955          0.908          1.468          0              0              0              82
  16  SaltShaker      -0.007         0.908          1.383          0              0              0              58
  17  PepperShaker    -0.911         0.817          -1.411         0              90             0              106
  18  PepperShaker    0.654          2.150          1.506          0              0              0              56
  19  Bread           1.155          0.969          1.468          0              0              0              82
  20  Lettuce         2.754          0.992          1.299          0              0              0              82
  21  Mug             -1.056         0.815          -1.360         0              90             0              106
  22  Mug             2.962          1.014          -0.840         0              0              0              102
  23  Apple           0.466          1.853          1.488          0              180            0              105
  24  SoapBottle      1.835          1.660          -0.811         0              180            0              84
  25  Plate           2.488          0.914          1.383          0              0              0              82
  26  Fork            -0.983         0.821          -1.257         0              90             0              106
  27  Pot             1.955          0.915          1.129          0              0              0              82
  28  Bread           1.03           0.953          -0.519         0              0              0              47
  29  Egg             -0.055         0.949          1.044          0              0              0              58
  30  Kettle          0.710          0.9            -0.772         0              0              0              47
  31  Tomato          -0.682         0.852          -1.473         0              0              0              106
  32  Cup             2.838          1.286          -0.709         0              0              0              102
  33  Spatula         2.156          0.926          -0.854         0              90             0              47
  34  Apple           0.193          0.834          -0.762         0              0              0              104
  35  Pan             1.688          0.911          1.468          0              0              0              82
  36  Lettuce         -0.151         0.992          1.299          0              0              0              58
  37  SaltShaker      -0.294         0.908          1.468          0              0              0              58
  38  Knife           -0.836         0.853          -1.328         0              180            0              106
  39  Potato          2.777          1.053          -0.447         0              0              0              102
  40  PepperShaker    -0.164         1.650          1.546          0              0              0              73
  41  ButterKnife     1.902          0.911          -0.345         0              0              0              47
  42  Bowl            2.838          1.561          -0.775         0              0              0              102
  43  DishSponge      2.173          0.770          -0.498         0              180            0              60
  44  Spoon           2.156          0.912          -0.345         0              0              0              47
  45  Mug             -0.694         0.815          -1.360         0              90             0              106
  46  Sink            0.050          0.902          -0.648         0              0              0
  47  CounterTop      1.358          0.947          -0.600         0              0              0
  48  Cabinet         2.986          2.009          1.304          0              0              0
  49  Cabinet         1.022          2.009          -0.607         0              180            0
  50  StoveBurner     0.678          0.923          1.082          0              0              0
  51  Cabinet         2.371          0.402          0.995          0              0              0
  52  Drawer          -0.125         0.792          0.995          0              0              0
  53  StoveBurner     0.281          0.923          1.082          0              0              0
  54  Cabinet         1.025          0.402          0.995          0              0              0
  55  Cabinet         1.023          0.402          -0.296         0              180            0
  56  Cabinet         0.974          2.259          1.304          0              0              0
  57  Cabinet         0.979          2.009          -0.607         0              180            0
  58  CounterTop      -0.158         0.947          1.299          0              0              0
  59  Cabinet         1.725          2.009          1.304          0              0              0
  60  Drawer          2.205          0.792          -0.294         0              180            0
  61  Drawer          1.869          0.792          -0.294         0              180            0
  62  StoveBurner     0.281          0.923          1.347          0              0              0
  63  Drawer          2.512          0.792          0.995          0              0              0
  64  Cabinet         1.673          0.402          -0.296         0              180            0
  65  Drawer          1.524          0.792          0.995          0              0              0
  66  Drawer          1.174          0.792          -0.294         0              180            0
  67  Cabinet         1.720          0.402          0.995          0              0              0
  68  Cabinet         2.348          2.009          -0.607         0              180            0
  69  Cabinet         1.676          2.009          -0.607         0              180            0
  70  Cabinet         1.673          2.009          1.304          0              0              0
  71  Cabinet         2.326          2.009          1.304          0              0              0
  72  Cabinet         2.370          2.009          1.304          0              0              0
  73  Cabinet         0.021          2.009          1.304          0              0              0
  74  Cabinet         1.025          2.009          1.304          0              0              0
  75  Cabinet         -0.274         0.402          0.995          0              0              0
  76  Cabinet         1.675          0.402          0.995          0              0              0
  77  Drawer          1.524          0.792          -0.294         0              180            0
  78  Drawer          2.187          0.792          0.995          0              0              0
  79  Cabinet         2.977          0.402          0.995          0              0              0
  80  Drawer          1.862          0.792          0.995          0              0              0
  81  Cabinet         0.072          2.259          1.304          0              0              0
  82  CounterTop      1.917          0.947          1.299          0              0              0
  83  Cabinet         2.328          0.402          0.995          0              0              0
  84  Cabinet         1.723          2.009          -0.607         0              180            0
  85  StoveBurner     0.677          0.923          1.345          0              0              0
  86  Cabinet         0.355          2.009          -0.607         0              180            0
  87  Cabinet         0.332          2.009          -0.607         0              180            0
  88  Cabinet         2.349          0.402          -0.296         0              180            0
  89  Cabinet         -0.284         2.009          -0.607         0              180            0
  90  Faucet          0.061          0.906          -0.903         0              0              0
  91  Drawer          2.837          0.792          0.995          0              0              0
  92  Drawer          1.175          0.792          0.995          0              0              0
  93  Cabinet         1.723          0.402          -0.296         0              180            0
  94  StoveKnob       0.588          1.093          1.557          287.970        0              0
  95  StoveKnob       0.188          1.093          1.557          287.970        0              0
  96  StoveKnob       0.749          1.093          1.557          287.970        0              0
  97  StoveKnob       0.338          1.093          1.557          287.970        0              0
  98  Toaster         1.934          0.900          -0.717         0              0              0
  99  LightSwitch     -1.662         1.427          1.649          0              180            0
 100  GarbageCan      -1.965         -0.029         1.358          0              270            0
 101  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 102  Fridge          3.043          0.0            -0.709         0              0              0
 103  Window          -2.183         1.501          -0.014         90             270            0
 104  SinkBasin       0.043          0.755          -0.651         0              0              0
 105  Microwave       0.531          1.675          1.437          0              180            0
 106  DiningTable     -0.836         8.404          -1.258         0              0              0
 107  Chair           -1.611         0.002          -1.185         0              45             0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Turn right, go towards the window, turn right, go to the blue bin ahead. | STEP 2: Take the tomato from the bin. | STEP 3: Turn right, go towards the wall, turn right, go to the fridge ahead. | STEP 4: Chill the tomato on the top shelf on the right side of the fridge. Take the tomato from the fridge. | STEP 5: Turn right, go forward, turn left at the sink, go to the sink. | STEP 6: Put the tomato in the sink. | END