Task: It make an few tools come together as the robot knows they belong near the kitchen 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           0.901          4.0            0              0              0
   1  ButterKnife     -2.892         0.900          2.573          0              0              0              72
   2  ButterKnife     -2.785         0.935          3.209          0              0              0              58
   3  Spatula         -2.377         0.677          0.300          0              90             0              59
   4  Spatula         -0.487         0.677          0.355          0              90             0              40
   5  Fork            -0.572         0.901          2.530          0              0              0              74
   6  Egg             -0.350         1.051          0.299          0              0              0              70
   7  Egg             -2.722         1.219          4.575          0              90             0              68
   8  Cup             -2.686         0.900          1.913          0              0              0              72
   9  Cup             -0.403         1.023          0.235          0              0              0              70
  10  Plate           -2.831         0.303          4.575          0              90             0              68
  11  Tomato          -1.007         0.859          0.447          0              0              0              69
  12  Tomato          -0.657         0.964          3.535          0              0              0              74
  13  PepperShaker    -1.716         0.658          0.573          0              0              0              54
  14  Lettuce         -0.400         0.980          2.530          0              0              0              74
  15  Lettuce         -2.805         1.266          4.501          0              90             0              68
  16  Mug             -1.138         1.768          0.160          0              0              0              48
  17  Mug             -2.778         1.001          3.714          0              90             0              71
  18  Apple           -0.297         1.074          0.235          0              0              0              70
  19  Egg             -2.789         0.933          2.177          0              0              0              72
  20  Plate           -0.802         1.777          0.251          0              0              0              49
  21  Fork            -2.583         0.901          2.309          0              0              0              72
  22  Bread           -2.864         0.940          1.983          0              0              0              72
  23  Apple           -0.143         0.956          2.530          0              0              0              74
  24  Lettuce         -2.785         0.378          4.278          0              90             0              68
  25  Spatula         -2.377         0.915          2.309          0              90             0              72
  26  Knife           -0.228         0.926          2.731          0              0              0              74
  27  Potato          -2.644         0.325          4.427          0              90             0              68
  28  Tomato          -2.583         0.964          2.573          0              0              0              72
  29  Cup             -1.770         0.927          0.602          0              0              0              51
  30  SaltShaker      -0.272         0.658          0.464          0              0              0              40
  31  PepperShaker    -2.480         0.896          2.573          0              0              0              72
  32  ButterKnife     -0.228         0.900          2.932          0              0              0              74
  33  SoapBottle      -2.765         0.053          0.386          0              26.101         0              65
  34  Pan             -0.535         0.928          4.274          0              0              0              55
  35  DishSponge      -2.170         0.927          0.602          0              0              0              51
  36  Pot             -2.476         0.889          2.050          0              0              0              72
  37  Spoon           -2.789         0.901          2.309          0              0              0              72
  38  Mug             -2.246         1.768          0.251          0              0              0              47
  39  Bowl            -0.249         1.770          0.251          0              0              0              50
  40  Drawer          -0.325         0.696          0.413          0              0              0
  41  Cabinet         -0.595         0.490          0.648          0              0              0
  42  Cabinet         -0.555         0.490          0.646          0              0              0
  43  Cabinet         -1.591         0.490          0.646          0              0              0
  44  Cabinet         -1.554         0.490          0.646          0              0              0
  45  Cabinet         -2.550         0.490          0.646          0              0              0
  46  Cabinet         -1.514         2.046          0.392          0              0              0
  47  Cabinet         -2.474         2.046          0.392          0              0              0
  48  Cabinet         -1.478         2.046          0.392          0              0              0
  49  Cabinet         -0.518         2.046          0.392          0              0              0
  50  Cabinet         -0.479         2.046          0.392          0              0              0
  51  CounterTop      -1.366         0.952          0.349          0              0              0
  52  Sink            -1.108         0.926          0.340          0              0              0
  53  StoveBurner     -0.254         0.922          4.672          0              0              0
  54  Drawer          -1.824         0.696          0.413          0              0              0
  55  StoveBurner     -0.535         0.922          4.274          0              0              0
  56  StoveBurner     -0.254         0.922          4.274          0              0              0
  57  StoveBurner     -0.536         0.922          4.672          0              0              0
  58  CounterTop      -2.780         0.971          3.487          0              0              0
  59  Drawer          -2.323         0.696          0.413          0              0              0
  60  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  64  Toaster         -0.286         0.861          3.520          0              270            0
  65  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  66  LightSwitch     -0.064         1.447          1.996          0              270            0
  67  Window          -3.075         1.593          1.361          90             90             0
  68  Fridge          -2.802         0.0            4.427          0              0              0
  69  SinkBasin       -1.106         0.785          0.337          0              0              0
  70  Microwave       -0.358         0.917          0.224          0              0              0
  71  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  72  DiningTable     -2.733         -0.003         2.607          0              270            0
  73  Faucet          -1.077         0.920          0.028          270            270            0
  74  DiningTable     -0.488         -0.003         3.182          0              270            0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: You will rotate circle for three quarters and on the right pick up an tomato. | STEP 2: You will cross the room to the small white table, pick up the tool. | STEP 3: You walk around stop, twist and circle back to the same table for the bowl | STEP 4: You drop the item in the bowl. | STEP 5: The bowl is picked up as to hold the tool in it. | STEP 6: You have to turn to the left. | STEP 7: You walk to the left and cross the room to the counter. And to slide the bowl forward. | END