Task: Put a heated tomato 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           1.75           0.900          -0.25          0              270            0
   1  Potato          0.908          0.949          -1.848         0              270            0              53
   2  Potato          0.804          0.949          -1.715         0              270            0              53
   3  DishSponge      -2.614         0.951          0.345          0              90             0              88
   4  DishSponge      -2.477         0.951          0.435          0              90             0              88
   5  ButterKnife     -2.065         0.952          0.255          0              180            0              88
   6  ButterKnife     1.658          0.912          -1.820         0              0              0              55
   7  Pot             1.361          0.962          0.561          0              270            0              60
   8  Fork            -0.451         0.912          -1.571         0              0              0              55
   9  Fork            0.564          0.912          0.209          0              0              0              54
  10  Spatula         -2.340         0.967          0.435          0              180            0              88
  11  Spatula         1.907          0.927          0.458          0              90             0              70
  12  Egg             0.432          0.947          0.209          0              0              0              54
  13  Egg             -0.361         0.105          0.396          0              90             0              84
  14  Plate           -0.096         0.913          0.292          0              0              0              54
  15  Knife           0.701          0.944          -1.649         0              270            0              53
  16  SoapBottle      0.649          0.918          -1.516         0              270            0              53
  17  SoapBottle      -0.394         0.068          0.482          0              90             0              84
  18  Tomato          1.663          0.961          0.209          0              0              0              70
  19  SaltShaker      1.903          0.908          -1.820         0              0              0              55
  20  SaltShaker      1.462          1.325          -1.809         0              180            0              71
  21  PepperShaker    1.289          0.908          -1.489         0              0              0              55
  22  Bread           -1.928         1.035          0.524          0              90             0              88
  23  Mug             -1.959         0.775          -1.806         0              0              0              85
  24  Apple           0.341          0.850          -1.648         0              270            0              78
  25  Apple           -2.065         1.019          0.435          0              90             0              88
  26  Bread           1.785          0.995          0.458          0              0              0              70
  27  Knife           1.535          0.937          -1.820         0              0              0              55
  28  Fork            -2.065         0.952          0.614          0              90             0              88
  29  Bowl            -1.791         0.951          0.255          0              90             0              88
  30  Kettle          1.830          0.109          0.274          0              0              0              70
  31  Cup             0.504          0.108          0.308          0              0              0              66
  32  Tomato          1.846          0.961          0.209          0              0              0              70
  33  SoapBottle      0.455          0.107          -1.472         0              180            0              52
  34  Plate           -0.147         0.111          -1.508         0              0              0              64
  35  Pot             1.007          0.962          0.561          0              270            0              57
  36  Spatula         -1.928         0.967          0.255          0              90             0              88
  37  PaperTowelRoll  1.663          1.016          0.375          0              0              0              70
  38  Egg             -0.296         0.105          0.655          0              90             0              84
  39  Lettuce         -0.451         1.002          -1.737         0              0              0              55
  40  SaltShaker      0.167          0.908          0.292          0              0              0              54
  41  PepperShaker    0.035          0.908          0.458          0              0              0              54
  42  Apple           -2.203         1.019          0.345          0              90             0              88
  43  ButterKnife     -0.175         0.912          -1.654         0              0              0              55
  44  Potato          -2.135         1.522          -1.677         0              0              0              85
  45  Pan             1.022          0.959          0.288          0              219.190        0              67
  46  DishSponge      -0.644         1.328          -1.772         0              180            0              49
  47  Spoon           -0.058         0.773          -1.505         0              0              0              58
  48  Mug             1.412          0.907          -1.489         0              180            0              55
  49  Cabinet         -0.193         1.688          -1.648         0              180            0
  50  StoveBurner     1.360          0.957          0.293          0              180            0
  51  Drawer          0.499          0.792          0.296          0              0              0
  52  Cabinet         0.095          0.400          -1.352         0              180            0
  53  Sink            0.711          0.817          -1.772         0              270            0
  54  CounterTop      0.280          0.947          0.458          0              0              0
  55  CounterTop      -0.680         0.947          -1.654         0              0              0
  56  Drawer          1.825          0.792          0.296          0              0              0
  57  StoveBurner     1.007          0.957          0.561          0              270            0
  58  Drawer          -0.150         0.792          -1.496         0              0              0
  59  Drawer          -0.586         0.792          -1.496         0              0              0
  60  StoveBurner     1.360          0.957          0.561          0              270            0
  61  Drawer          0.024          0.792          0.296          0              0              0
  62  Cabinet         1.079          0.400          -1.349         0              180            0
  63  Cabinet         1.669          0.402          0.151          0              0              0
  64  Cabinet         0.055          0.402          -1.351         0              0              0
  65  Cabinet         -0.180         0.402          0.151          0              0              0
  66  Cabinet         0.729          0.402          0.151          0              0              0
  67  StoveBurner     1.007          0.957          0.293          0              180            0
  68  Drawer          -1.100         0.792          -1.496         0              0              0
  69  Cabinet         -0.396         0.402          -1.351         0              0              0
  70  CounterTop      1.776          0.947          0.458          0              0              0
  71  Cabinet         1.974          1.688          -1.648         0              180            0
  72  Cabinet         -0.820         0.400          -1.349         0              180            0
  73  Toaster         0.305          0.900          0.552          0              180            0
  74  LightSwitch     -2.756         1.307          -0.987         0              90             0
  75  Window          0.582          1.613          -1.967         90             0              0
  76  Window          1.969          1.5            -0.615         90             270            0
  77  Microwave       -1.037         0.900          -1.723         0              0              0
  78  SinkBasin       0.377          0.765          -1.655         0              270            0
  79  CoffeeMachine   0.618          0.900          0.600          0              180            0
  80  StoveKnob       1.246          0.913          0.118          45             180            0
  81  StoveKnob       1.373          0.913          0.118          45             180            0
  82  StoveKnob       0.995          0.913          0.118          45             180            0
  83  StoveKnob       1.126          0.913          0.118          45             180            0
  84  GarbageCan      -0.368         -0.029         0.539          0              90             0
  85  Fridge          -2.134         0.0            -1.690         0              0              0
  86  Faucet          0.549          1.046          -1.833         0              232.527        0
  87  Stool           -1.475         0.000          0.414          1.233          280.375        0
  88  DiningTable     -2.255         -0.004         0.432          0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn right to face the tomatoes on the counter.  | STEP 2: Pick up the left tomato on the counter.  | STEP 3: Turn left, head across the kitchen, turn left to face the mike on the counter. | STEP 4: Heat the tomato in the mike.  | STEP 5: Bring the heated tomato to the sink on the left. | STEP 6: Put the tomato in the sink.  | END