Task: Heat a tomato and place in a 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           0.900          0.75           0              0              0
   1  Statue          -1.167         0.936          -0.118         0              0              0              49
   2  Vase            -0.772         0.934          -1.308         0              0              0              49
   3  Potato          0.905          0.893          1.254          0              270            0              72
   4  Potato          0.966          1.673          0.967          0              270            0              72
   5  CreditCard      -1.571         0.878          2.773          0              0              0              76
   6  CellPhone       -1.363         0.550          2.615          0              0              0              75
   7  Glassbottle     1.055          1.667          -1.893         0              270            0              48
   8  Fork            -1.229         0.934          -1.430         0              90             0              49
   9  Egg             1.026          0.900          1.540          0              270            0              72
  10  Egg             -0.818         0.216          0.641          0              180            0              69
  11  Tomato          0.688          0.952          -2.051         0              0              0              55
  12  SoapBottle      0.688          0.911          -0.555         0              0              0              50
  13  SoapBottle      0.859          0.911          -0.729         0              0              0              50
  14  Lettuce         0.859          0.988          -0.381         0              0              0              50
  15  Statue          -1.167         0.936          0.144          0              0              0              49
  16  Glassbottle     -1.981         0.882          2.692          0              0              0              76
  17  Bread           -0.779         0.996          0.209          0              258.641        0              49
  18  CreditCard      0.914          0.150          -0.611         0              270            0              52
  19  CellPhone       0.833          0.150          -0.690         0              270            0              52
  20  Potato          -0.587         0.807          -0.486         0              90             0              70
  21  Knife           0.868          0.700          -0.600         90             315            0              47
  22  Fork            -0.772         0.934          -0.143         0              0              0              49
  23  Pan             -1.167         0.931          -0.380         0              90             0              49
  24  Lettuce         1.114          0.988          -0.034         0              0              0              50
  25  Plate           0.905          1.405          1.444          0              270            0              72
  26  Apple           0.844          1.452          1.063          0              270            0              72
  27  Pot             -1.778         0.557          2.718          0              0              0              75
  28  Spatula         0.914          0.168          -0.531         0              0              0              52
  29  PaperTowelRoll  -1.101         0.283          0.576          0              180            0              69
  30  Tomato          -0.808         0.821          -0.745         0              90             0              70
  31  Egg             0.844          0.900          1.540          0              270            0              72
  32  SaltShaker      -1.571         0.878          2.665          0              0              0              76
  33  PepperShaker    0.711          0.104          -1.812         0              0              0              54
  34  Vase            0.861          0.108          -1.892         0              0              0              54
  35  ButterKnife     -0.624         0.933          -1.463         0              0              0              49
  36  SoapBottle      0.944          0.911          0.139          0              0              0              50
  37  Vase            1.148          1.667          -2.166         0              270            0              48
  38  Bowl            1.114          0.914          -0.381         0              0              0              50
  39  DishSponge      0.773          0.910          -1.879         0              0              0              55
  40  Spoon           0.875          0.496          -0.648         0              270            0              53
  41  Cup             1.009          1.663          -2.029         0              270            0              48
  42  Mug             1.101          1.661          0.280          0              270            0              57
  43  StoveBurner     0.842          0.919          -1.098         0              0              0
  44  Cabinet         0.648          0.474          0.244          0              270            0
  45  StoveBurner     1.077          0.919          -1.504         0              0              0
  46  StoveBurner     0.842          0.919          -1.504         0              0              0
  47  Drawer          0.637          0.755          -0.649         0              270            0
  48  Cabinet         0.949          2.159          -2.375         0              270            0
  49  CounterTop      -1.238         0.968          -0.643         0              0              0
  50  CounterTop      0.931          0.946          -0.208         0              0              0
  51  StoveBurner     1.077          0.919          -1.098         0              0              0
  52  Drawer          0.637          0.268          -0.649         0              270            0
  53  Drawer          0.637          0.547          -0.649         0              270            0
  54  Cabinet         0.648          0.475          -1.714         0              0              0
  55  CounterTop      0.931          0.946          -2.051         0              0              0
  56  Cabinet         0.948          2.439          -1.780         0              270            0
  57  Cabinet         0.948          2.159          -0.140         0              270            0
  58  Cabinet         0.949          2.159          -0.758         0              270            0
  59  Sink            -0.699         0.927          -0.649         0              0              0
  60  LightSwitch     -2.371         1.218          3.049          0              180            0
  61  StoveKnob       0.673          0.899          -1.373         315            90             180
  62  StoveKnob       0.673          0.899          -1.519         315            90             180
  63  StoveKnob       0.673          0.899          -1.086         315            90             180
  64  StoveKnob       0.673          0.899          -1.237         315            90             180
  65  Toaster         0.984          0.900          0.329          0              270            0
  66  Window          0.014          0.998          -2.640         90             0              0
  67  Window          -2.996         0.998          -2.640         90             0              0
  68  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  69  GarbageCan      -0.946         -0.036         0.575          0              180            0
  70  SinkBasin       -0.698         0.765          -0.647         0              90             0
  71  Microwave       1.042          1.680          -1.295         0              270            0
  72  Fridge          0.966          0.0            1.253          0              0              0
  73  HousePlant      -1.354         0.919          -1.540         0              0              0
  74  Shelf           -1.635         0.172          2.715          0              180            0
  75  Shelf           -1.635         0.552          2.715          0              180            0
  76  Shelf           -1.635         0.880          2.715          0              180            0
  77  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  78  Chair           -1.832         0.002          -0.034         0              119.999        0
  79  Chair           -1.854         0.002          -0.956         0              67.887         0
  80  Faucet          -0.867         1.161          -0.651         0              0              0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn around completely and go forward. Turn right and face the sink.  | STEP 2: Pick up the tomato from the sink.  | STEP 3: Turn and step to the left. Then turn around to the left again and face the oven. Look up to the microwave.  | STEP 4: Place the tomato inside the microwave and heat the tomato then take it out.  | STEP 5: Turn to the right and walk forward then turn to the right and go around the island. Turn to the right to face the bin.  | STEP 6: Place the tomato inside of the bin.  | END