Task: Place a cooked tomato into the blue bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          0.25           0              180            0
   1  Pan             0.678          0.964          1.082          0              0              0              47
   2  Fork            1.967          0.772          -0.498         0              90             0              58
   3  Spatula         2.488          0.926          1.553          0              270            0              79
   4  Plate           1.141          0.914          -0.684         0              0              0              44
   5  Plate           0.231          2.159          1.467          0              0              0              78
   6  Cup             -0.939         0.818          -1.473         0              0              0              103
   7  Cup             2.767          0.112          1.231          0              0              0              76
   8  Egg             3.421          0.878          -0.485         0              0              0              99
   9  SoapBottle      2.221          0.917          1.214          0              0              0              79
  10  SoapBottle      1.688          0.917          1.129          0              0              0              79
  11  Tomato          2.900          1.050          -0.578         0              0              0              99
  12  Tomato          2.221          0.942          1.468          0              0              0              79
  13  Bowl            -0.151         0.909          1.383          0              0              0              55
  14  SaltShaker      -0.682         0.817          -1.473         0              0              0              103
  15  SaltShaker      0.918          2.150          1.468          0              0              0              78
  16  Bread           1.422          0.969          1.468          0              0              0              79
  17  Bread           1.688          0.969          1.468          0              0              0              79
  18  Lettuce         1.155          0.992          1.299          0              0              0              79
  19  Apple           2.715          1.357          -0.775         0              0              0              99
  20  Apple           -2.019         0.492          1.417          0              270            0              97
  21  SoapBottle      0.862          1.661          -0.771         0              180            0              54
  22  Plate           2.211          0.902          -0.462         0              0              0              44
  23  Fork            -0.766         0.821          -1.257         0              90             0              103
  24  Pot             0.281          0.964          1.082          0              0              0              50
  25  Bread           0.634          0.969          -0.515         0              0              0              44
  26  Egg             -0.621         0.858          -1.360         0              90             0              103
  27  Kettle          2.754          0.912          1.214          0              0              0              79
  28  Tomato          -1.991         0.455          1.290          0              270            0              97
  29  Cup             -0.836         0.818          -1.328         0              0              0              103
  30  Spatula         -0.983         0.835          -1.308         0              90             0              103
  31  Apple           2.653          0.795          -0.535         0              0              0              99
  32  Pan             1.171          1.654          -0.772         0              180            0              46
  33  Lettuce         2.488          0.992          1.214          0              0              0              79
  34  SaltShaker      1.061          0.110          -0.383         0              180            0              52
  35  Knife           0.193          0.798          -0.651         0              0              0              101
  36  Potato          -0.621         0.855          -1.155         0              90             0              103
  37  PepperShaker    0.601          2.150          1.390          0              0              0              53
  38  ButterKnife     1.955          0.911          1.129          0              0              0              79
  39  Bowl            2.900          1.561          -0.644         0              0              0              99
  40  DishSponge      1.484          1.655          -0.849         0              180            0              66
  41  Spoon           2.837          0.773          1.122          0              0              0              88
  42  Mug             1.428          0.965          -0.577         0              0              0              44
  43  Sink            0.050          0.902          -0.648         0              0              0
  44  CounterTop      1.358          0.947          -0.600         0              0              0
  45  Cabinet         2.986          2.009          1.304          0              0              0
  46  Cabinet         1.022          2.009          -0.607         0              180            0
  47  StoveBurner     0.678          0.923          1.082          0              0              0
  48  Cabinet         2.371          0.402          0.995          0              0              0
  49  Drawer          -0.125         0.792          0.995          0              0              0
  50  StoveBurner     0.281          0.923          1.082          0              0              0
  51  Cabinet         1.025          0.402          0.995          0              0              0
  52  Cabinet         1.023          0.402          -0.296         0              180            0
  53  Cabinet         0.974          2.259          1.304          0              0              0
  54  Cabinet         0.979          2.009          -0.607         0              180            0
  55  CounterTop      -0.158         0.947          1.299          0              0              0
  56  Cabinet         1.725          2.009          1.304          0              0              0
  57  Drawer          2.205          0.792          -0.294         0              180            0
  58  Drawer          1.869          0.792          -0.294         0              180            0
  59  StoveBurner     0.281          0.923          1.347          0              0              0
  60  Drawer          2.512          0.792          0.995          0              0              0
  61  Cabinet         1.673          0.402          -0.296         0              180            0
  62  Drawer          1.524          0.792          0.995          0              0              0
  63  Drawer          1.174          0.792          -0.294         0              180            0
  64  Cabinet         1.720          0.402          0.995          0              0              0
  65  Cabinet         2.348          2.009          -0.607         0              180            0
  66  Cabinet         1.676          2.009          -0.607         0              180            0
  67  Cabinet         1.673          2.009          1.304          0              0              0
  68  Cabinet         2.326          2.009          1.304          0              0              0
  69  Cabinet         2.370          2.009          1.304          0              0              0
  70  Cabinet         0.021          2.009          1.304          0              0              0
  71  Cabinet         1.025          2.009          1.304          0              0              0
  72  Cabinet         -0.274         0.402          0.995          0              0              0
  73  Cabinet         1.675          0.402          0.995          0              0              0
  74  Drawer          1.524          0.792          -0.294         0              180            0
  75  Drawer          2.187          0.792          0.995          0              0              0
  76  Cabinet         2.977          0.402          0.995          0              0              0
  77  Drawer          1.862          0.792          0.995          0              0              0
  78  Cabinet         0.072          2.259          1.304          0              0              0
  79  CounterTop      1.917          0.947          1.299          0              0              0
  80  Cabinet         2.328          0.402          0.995          0              0              0
  81  Cabinet         1.723          2.009          -0.607         0              180            0
  82  StoveBurner     0.677          0.923          1.345          0              0              0
  83  Cabinet         0.355          2.009          -0.607         0              180            0
  84  Cabinet         0.332          2.009          -0.607         0              180            0
  85  Cabinet         2.349          0.402          -0.296         0              180            0
  86  Cabinet         -0.284         2.009          -0.607         0              180            0
  87  Faucet          0.061          0.906          -0.903         0              0              0
  88  Drawer          2.837          0.792          0.995          0              0              0
  89  Drawer          1.175          0.792          0.995          0              0              0
  90  Cabinet         1.723          0.402          -0.296         0              180            0
  91  StoveKnob       0.588          1.093          1.557          287.970        0              0
  92  StoveKnob       0.188          1.093          1.557          287.970        0              0
  93  StoveKnob       0.749          1.093          1.557          287.970        0              0
  94  StoveKnob       0.338          1.093          1.557          287.970        0              0
  95  Toaster         1.934          0.900          -0.717         0              0              0
  96  LightSwitch     -1.662         1.427          1.649          0              180            0
  97  GarbageCan      -1.965         -0.029         1.358          0              270            0
  98  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  99  Fridge          3.043          0.0            -0.709         0              0              0
 100  Window          -2.183         1.501          -0.014         90             270            0
 101  SinkBasin       0.043          0.755          -0.651         0              0              0
 102  Microwave       0.531          1.675          1.437          0              180            0
 103  DiningTable     -0.836         8.404          -1.258         0              0              0
 104  Chair           -1.611         0.002          -1.185         0              45             0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Face right, walk straight to the window, turn right and walk to the blue bin. | STEP 2: Grab a tomato from the blue bin. | STEP 3: With the tomato in hand, turn around, walk down the aisle, and face left to the stove. | STEP 4: Look above the stove, place the tomato into the microwave, heat it for a moment, and then take out the tomato. | STEP 5: With the tomato in hand, make a left, walk straight, then face the door to your right. | STEP 6: Look to your left and place the cooked tomato inside the blue bin. | END