Task: put a cooked tomato into a sink basin

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           1.124          0.5            0              0              0
   1  Pan             -1.886         0.343          1.523          0              0              0              47
   2  WineBottle      0.563          1.323          -2.900         0              0              0              46
   3  WineBottle      1.193          1.208          1.238          0              0              0              71
   4  Kettle          -1.660         1.324          0.770          0              0              0              46
   5  Spatula         -1.826         1.078          -0.496         0              180            0              64
   6  Spatula         -1.915         1.350          -1.255         0              0              0              53
   7  Cup             0.747          0.342          -1.957         0              180            0              45
   8  Cup             -1.826         1.330          -0.911         0              0              0              53
   9  Tomato          0.933          1.980          1.847          0              270            0              59
  10  SaltShaker      -1.660         1.318          0.120          0              0              0              46
  11  SaltShaker      -1.345         1.318          -0.098         0              0              0              46
  12  PepperShaker    0.896          1.318          -2.053         0              0              0              46
  13  PepperShaker    -1.540         0.338          -2.362         0              0              0              42
  14  Lettuce         -1.660         1.399          2.069          0              0              0              46
  15  Lettuce         -1.165         1.399          -3.314         0              0              0              46
  16  Mug             -1.530         1.318          -1.941         0              0              0              46
  17  Mug             1.285          1.318          -0.942         0              0              0              46
  18  Bread           0.506          1.397          -1.683         0              0              0              46
  19  Pot             -1.665         0.350          -2.063         0              0              0              42
  20  Knife           1.155          1.352          -2.424         0              0              0              46
  21  Bowl            0.977          1.755          2.289          0              270            0              59
  22  Potato          0.928          2.068          2.170          0              270            0              59
  23  SoapBottle      -1.826         1.333          -1.186         0              0              0              53
  24  Fork            -1.698         1.051          -0.542         0              0              0              64
  25  Cup             -1.094         1.320          -2.870         0              0              0              46
  26  Kettle          -0.125         1.332          -2.973         0              0              0              54
  27  Egg             1.276          1.248          1.222          0              0              0              71
  28  Pan             -0.630         1.331          -3.301         0              180            0              43
  29  SaltShaker      -1.682         0.338          1.007          0              0              0              47
  30  WineBottle      -1.610         0.281          2.234          0              270            0              61
  31  Lettuce         1.025          1.399          -2.424         0              0              0              46
  32  Spatula         0.492          1.337          -3.011         0              0              0              46
  33  PaperTowelRoll  0.206          1.427          -2.789         0              0              0              46
  34  Tomato          -1.954         1.084          -0.587         0              0              0              64
  35  Plate           1.155          1.323          -2.053         0              0              0              46
  36  PepperShaker    -1.614         0.338          1.420          0              0              0              47
  37  DishSponge      1.023          0.953          0.983          0              0              0              76
  38  Spoon           -1.645         0.421          -1.086         0              0              0              52
  39  Apple           -2.093         1.383          -1.049         0              0              0              53
  40  Mug             0.944          1.202          1.238          0              0              0              71
  41  StoveBurner     -0.239         1.325          -3.301         0              180            0
  42  Cabinet         -1.461         0.775          -2.002         0              0              0
  43  StoveBurner     -0.630         1.325          -3.301         0              180            0
  44  Cabinet         -1.461         0.775          0.470          0              0              0
  45  Cabinet         0.578          0.776          -2.054         0              0              0
  46  CounterTop      -1.809         1.358          1.182          0              0              0
  47  Cabinet         -1.461         0.775          1.310          0              0              0
  48  Faucet          -2.063         1.362          -0.726         0              39.391         0
  49  StoveBurner     -0.749         1.325          -2.973         0              0              0
  50  Drawer          -1.610         0.681          -0.430         0              0              0
  51  Window          -2.566         1.799          -0.822         270            0              0
  52  Drawer          -1.610         0.681          -1.217         0              0              0
  53  Sink            -1.990         1.143          -0.975         0              0              0
  54  StoveBurner     -0.125         1.325          -2.973         0              0              0
  55  StoveKnob       -0.185         1.338          -2.741         0              270            180
  56  StoveKnob       -0.336         1.338          -2.741         0              270            180
  57  StoveKnob       -0.569         1.338          -2.741         0              270            180
  58  StoveKnob       -0.707         1.338          -2.741         0              270            180
  59  Fridge          1.013          0.227          1.917          0              270            0
  60  Microwave       0.994          1.310          -2.163         0              270            0
  61  GarbageCan      -1.633         0.212          2.192          0              270            0
  62  LightSwitch     1.386          1.565          -0.657         0              270            0
  63  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  64  SinkBasin       -1.835         1.039          -0.542         0              0              0
  65  ButterKnife     0.873          0.468          0.651          0              0              0
  66  Toaster         -1.885         1.310          -2.512         0              90             0
  67  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  68  Drawer          0.647          1.061          0.680          0              270            0
  69  Drawer          0.648          1.061          1.020          0              270            0
  70  Drawer          0.648          0.843          1.020          0              270            0
  71  SideTable       0.975          0.220          0.869          0              270            0
  72  Drawer          0.648          0.602          0.680          0              270            0
  73  Drawer          0.648          0.596          1.020          0              270            0
  74  Drawer          0.648          0.843          0.680          0              270            0
  75  Stool           0.606          0.222          -1.084         1.233          280.489        0
  76
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: turn to face the kitchen sink | STEP 2: pick up tomato from sink basin | STEP 3: walk to face microwave | STEP 4: cook tomato in microwave | STEP 5: walk to face sink | STEP 6: put tomato into sink basin | END