Task: place a cooled tomato inside of the garbage bin

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          0.914          1.75           0              0              0
   1  ButterKnife     -3.272         0.915          3.499          0              0              0              40
   2  Spoon           -1.259         0.892          0.152          0              180            0              76
   3  Fork            -3.654         0.916          3.663          0              90             0              40
   4  Fork            -0.994         0.892          0.152          0              90             0              76
   5  Egg             -3.410         1.563          2.276          0              90             0              71
   6  Egg             -1.391         0.926          0.152          0              90             0              76
   7  Knife           -1.391         0.915          0.461          0              180            0              76
   8  Knife           -0.994         0.915          0.358          0              90             0              76
   9  Tomato          -1.921         0.858          3.774          0              0              0              70
  10  Tomato          -1.655         0.960          0.255          0              90             0              76
  11  Tomato          -1.391         0.960          0.049          0              90             0              76
  12  SoapBottle      -3.081         0.915          1.106          0              0              0              49
  13  SaltShaker      -1.612         0.077          3.508          0              0              0              51
  14  SaltShaker      -3.559         0.912          1.189          0              0              0              49
  15  PepperShaker    -1.127         0.887          -0.053         0              90             0              76
  16  Mug             -1.127         0.886          0.255          0              90             0              76
  17  Egg             -1.391         0.926          0.255          0              90             0              76
  18  Knife           -3.272         0.939          1.273          0              0              0              49
  19  Fork            -1.655         0.892          0.461          0              270            0              76
  20  Bread           -3.505         1.627          2.068          0              90             0              71
  21  Potato          -3.505         1.578          2.224          0              90             0              71
  22  Plate           -3.005         0.904          3.677          0              0              0              40
  23  Pot             -3.148         0.966          2.374          0              0              0              43
  24  Kettle          -3.424         0.966          2.374          0              0              0              46
  25  WineBottle      -2.022         0.916          4.104          0              0              0              40
  26  Bowl            -1.523         0.890          0.564          0              90             0              76
  27  Tomato          -1.666         0.858          3.737          0              0              0              70
  28  Cup             -2.800         0.080          3.624          0              0              0              52
  29  Spatula         -2.402         0.930          3.890          0              0              0              40
  30  SoapBottle      -1.565         0.080          3.625          0              0              0              45
  31  Lettuce         -1.759         0.974          0.085          0              0              0              76
  32  Pan             -2.614         0.902          3.620          0              0              0              40
  33  Apple           -1.259         0.951          0.564          0              90             0              76
  34  SaltShaker      -3.081         0.912          1.440          0              0              0              49
  35  PepperShaker    -1.754         0.077          3.547          0              0              0              45
  36  ButterKnife     -1.391         0.891          0.358          0              90             0              76
  37  DishSponge      -3.654         0.915          1.106          0              0              0              49
  38  Spoon           -1.729         0.790          3.7            0              0              0              70
  39  Mug             -1.127         0.886          0.564          0              90             0              76
  40  CounterTop      -3.381         0.950          3.335          0              0              0
  41  Drawer          -3.121         0.775          1.357          0              0              0
  42  Drawer          -3.121         0.777          2.916          0              0              0
  43  StoveBurner     -3.148         0.958          2.374          0              0              0
  44  Sink            -1.797         0.917          3.660          0              0              0
  45  Cabinet         -1.421         0.388          3.459          0              0              0
  46  StoveBurner     -3.424         0.958          2.374          0              0              0
  47  Cabinet         -3.365         1.931          2.676          0              0              0
  48  StoveBurner     -3.424         0.958          1.971          0              0              0
  49  CounterTop      -3.381         0.951          1.356          0              0              0
  50  Drawer          -3.121         0.781          3.295          0              0              0
  51  Cabinet         -2.205         0.388          3.459          0              0              0
  52  Cabinet         -2.963         0.388          3.459          0              0              0
  53  Cabinet         -2.992         0.388          2.683          0              0              0
  54  Cabinet         -3.352         2.205          1.715          0              0              0
  55  Cabinet         -3.352         2.205          2.653          0              0              0
  56  Cabinet         -2.189         0.388          3.466          0              0              0
  57  Cabinet         -3.365         1.931          3.963          0              0              0
  58  Cabinet         -3.365         1.931          1.056          0              0              0
  59  Cabinet         -2.992         0.388          1.037          0              0              0
  60  StoveBurner     -3.143         0.958          1.971          0              0              0
  61  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  62  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  63  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  64  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  65  Toaster         -2.654         0.902          4.064          0              180            0
  66  Fridge          -0.439         0.014          3.996          0              0              0
  67  LightSwitch     0.25           1.383          2.085          0              270            0
  68  Window          -1.430         1.338          -0.347         90             0              0
  69  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  70  SinkBasin       -1.802         0.778          3.700          0              0              0
  71  Microwave       -3.484         1.430          2.182          0              90             0
  72  GarbageCan      -1.184         -0.020         3.794          0              270            0
  73  Blinds          -1.404         2.092          -0.296         0              0              0
  74  Stool           -1.373         0.014          1.048          1.214          20.754         0
  75  Faucet          -1.788         0.903          3.931          270            90             0
  76  DiningTable     -1.399         0.010          0.238          0              0              0
  77  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: turn left and walk forwards until you're aligned with the kitchen sink on the right, then turn right and walk to the kitchen sink | STEP 2: grab the left tomato out of the sink there | STEP 3: turn right and walk over to the fridge on the left, turn left to face it | STEP 4: place the tomato inside of the fridge, let it cool and then take it back out | STEP 5: turn left and walk over to the garbage bin on the right | STEP 6: place the tomato inside of the garbage bin | END