Task: Retrieve a tomato for heating in the microwave and placement 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           -1.0           0.931          -0.5           0              90             0
   1  Pan             0.389          1.053          -1.630         0              0              0              48
   2  Potato          -1.051         0.760          1.885          0              90             0              67
   3  Potato          0.848          1.096          0.763          0              0              0              54
   4  ButterKnife     1.155          1.046          -1.612         0              0              0              52
   5  Fork            1.072          1.047          -1.397         0              0              0              52
   6  Spoon           0.446          1.044          0.630          0              90             0              54
   7  Spoon           -0.346         1.048          -1.397         0              90             0              52
   8  Spatula         1.181          1.058          0.589          0              90             0              54
   9  Spatula         1.238          1.061          -1.505         0              90             0              52
  10  Cup             -0.548         1.565          -1.396         0              0              0              57
  11  Cup             -0.323         1.565          -1.470         0              0              0              57
  12  Plate           1.188          1.577          -1.764         0              0              0              56
  13  Plate           -0.548         1.577          -1.619         0              0              0              57
  14  Knife           0.848          1.069          0.632          0              0              0              54
  15  Knife           0.100          1.072          -1.086         0              180            0              52
  16  Tomato          -1.268         1.999          2.242          0              90             0              67
  17  Tomato          -1.038         1.279          1.796          0              90             0              67
  18  Tomato          0.906          1.097          -1.181         0              0              0              52
  19  SoapBottle      1.523          1.044          0.199          0              0              0              54
  20  SoapBottle      1.512          0.205          -1.335         0              0              0              62
  21  Bowl            1.112          1.563          -1.463         0              0              0              56
  22  PepperShaker    1.817          0.199          -1.190         0              0              0              62
  23  PepperShaker    -0.222         0.198          -1.481         0              90             0              61
  24  Bread           -0.603         1.120          -1.289         0              0              0              52
  25  Mug             -1.096         1.711          -1.238         0              270            0              66
  26  SoapBottle      -0.432         1.047          -1.397         0              0              0              52
  27  Apple           1.181          0.936          0.304          0              90             0              49
  28  Potato          0.282          1.085          0.120          0              0              0              54
  29  Fork            0.255          1.043          0.630          0              0              0              54
  30  Kettle          0.823          1.047          -1.828         0              0              0              52
  31  Pan             -1.105         0.202          -1.482         0              90             0              60
  32  Tomato          -1.386         1.764          1.796          0              90             0              67
  33  SaltShaker      0.979          0.194          -1.628         0              0              0              63
  34  Egg             -1.264         1.543          2.063          0              90             0              67
  35  Cup             -1.264         1.489          2.242          0              90             0              67
  36  Spatula         0.761          1.068          0.131          0              180            0              50
  37  Knife           1.701          1.069          0.630          0              0              0              54
  38  Lettuce         -1.349         1.773          2.063          0              90             0              67
  39  ButterKnife     0.516          1.043          0.807          0              0              0              54
  40  PepperShaker    0.890          0.194          -1.628         0              0              0              63
  41  DishSponge      -0.491         0.203          -1.193         0              0              0              61
  42  Plate           0.801          0.212          -1.267         0              0              0              63
  43  Bread           0.405          1.104          0.352          0              337.138        0              54
  44  Spoon           0.980          1.054          0.231          0              90             0              50
  45  Pot             -1.029         2.029          -1.555         0              90             0              59
  46  Mug             0.960          1.560          -1.764         0              0              0              56
  47  Bowl            -1.235         1.227          1.885          0              90             0              67
  48  StoveBurner     0.389          1.043          -1.630         0              0              0
  49  SinkBasin       1.211          0.882          0.236          0              90             0
  50  Sink            0.928          0.941          0.324          0              90             0
  51  StoveBurner     0.000          1.048          -1.399         0              0              0
  52  CounterTop      0.196          1.082          -1.504         0              0              0
  53  StoveBurner     0.5            1.048          -1.399         0              0              0
  54  CounterTop      0.968          1.078          0.415          0              0              0
  55  StoveBurner     0.120          1.043          -1.630         0              0              0
  56  Cabinet         1.322          1.955          -1.309         0              0              0
  57  Cabinet         -0.866         1.955          -1.309         0              0              0
  58  Cabinet         1.993          1.403          -1.110         0              0              0
  59  Cabinet         -1.547         2.001          -1.110         0              0              0
  60  Cabinet         -1.526         0.593          -1.110         0              0              0
  61  Cabinet         -0.852         0.589          -1.110         0              0              0
  62  Cabinet         1.990          0.593          -1.110         0              0              0
  63  Cabinet         1.336          0.589          -1.110         0              0              0
  64  StoveBurner     0.250          1.048          -1.399         0              0              0
  65  Toaster         -0.550         1.035          -1.776         0              0              0
  66  Microwave       -1.189         1.624          -1.284         0              0              0
  67  Fridge          -1.286         0.020          1.832          0              90             0
  68  GarbageCan      1.856          -0.019         2.386          0              270            0
  69  LightSwitch     1.016          1.360          2.619          0              180            0
  70  CoffeeMachine   1.929          1.031          0.440          0              270            0
  71  StoveKnob       0.0            1.046          -1.220         0              0              0
  72  StoveKnob       0.090          1.046          -1.220         0              0              0
  73  StoveKnob       0.246          1.046          -1.220         0              0              0
  74  StoveKnob       0.490          1.046          -1.220         0              0              0
  75  StoveKnob       0.389          1.046          -1.220         0              0              0
  76  Faucet          1.277          1.265          0.384          0              90             0
  77  Chair           0.343          0.031          0.976          0              166.747        0
  78  Chair           1.008          0.031          1.034          0              180            0
  79  Chair           1.575          0.031          1.050          0              210.000        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Walk straight towards the wall and then face the counter top on the right. | STEP 2: Pick up the tomato to the right of the fork. | STEP 3: Turn around and move to the opposite wall in the room, then face left to see the microwave above the oven. | STEP 4: Open the microwave door and place the tomato inside next to the mug, cook for several seconds and remove.  | STEP 5: Walk to the opposite side of the room and face left to see the sink. | STEP 6: Place the tomato in the right sink below the apple,. | END