Task: Heat a tomato and place in the bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          -0.5           0              90             0
   1  Pan             0.905          1.132          1.063          0              180            0              74
   2  Statue          -1.104         0.936          -0.118         0              0              0              51
   3  Potato          1.026          1.673          1.444          0              270            0              74
   4  CreditCard      0.915          0.700          -0.731         0              270            0              49
   5  CellPhone       0.834          0.700          -0.648         0              270            0              49
   6  CellPhone       0.875          0.491          -0.648         0              270            0              55
   7  ButterKnife     0.944          0.911          -0.381         0              0              0              52
   8  ButterKnife     -0.550         0.933          -1.231         0              0              0              51
   9  Spatula         0.914          0.168          -0.690         0              0              0              54
  10  Knife           -0.550         0.957          0.162          0              0              0              51
  11  Egg             1.029          0.949          -0.034         0              0              0              52
  12  Cup             -1.570         0.551          2.563          0              0              0              77
  13  Plate           0.861          0.111          -1.892         0              0              0              56
  14  Bowl            1.169          2.211          -1.408         0              270            0              58
  15  Bowl            0.905          1.405          1.254          0              270            0              74
  16  PepperShaker    1.102          1.662          -0.337         0              270            0              60
  17  Statue          0.773          0.914          -0.034         0              0              0              52
  18  Glassbottle     1.169          2.208          -1.082         0              270            0              58
  19  Bread           -1.355         1.014          -0.118         0              0              0              51
  20  CreditCard      0.754          0.700          -0.565         0              270            0              49
  21  CellPhone       -1.363         0.550          2.615          0              0              0              77
  22  Potato          1.087          1.432          1.349          0              270            0              74
  23  Knife           -0.624         0.957          -1.463         0              0              0              51
  24  Fork            1.199          0.911          -0.381         0              90             0              52
  25  Pan             0.842          0.950          -1.504         0              0              0              48
  26  Lettuce         0.966          0.940          1.254          0              270            0              74
  27  Plate           1.148          1.669          -2.029         0              270            0              50
  28  Apple           -0.808         0.830          -0.745         0              90             0              72
  29  Pot             -1.221         0.92           -0.49          0              0              0              51
  30  Spatula         0.754          0.718          -0.772         0              180            0              49
  31  PaperTowelRoll  0.773          1.015          -1.965         0              0              0              57
  32  Tomato          -1.292         0.974          -0.905         0              0              0              51
  33  Egg             -1.104         0.971          -0.905         0              0              0              51
  34  SaltShaker      -1.570         0.550          2.874          0              0              0              77
  35  PepperShaker    1.010          0.104          -2.212         0              0              0              56
  36  Vase            -1.104         0.933          0.144          0              0              0              51
  37  ButterKnife     1.114          0.911          -0.555         0              0              0              52
  38  SoapBottle      0.861          0.108          -2.212         0              0              0              56
  39  Vase            -1.881         0.555          2.718          0              0              0              77
  40  Bowl            1.026          0.866          0.967          0              270            0              74
  41  DishSponge      1.055          1.665          -2.234         0              270            0              50
  42  Spoon           -0.753         0.781          -0.573         0              90             0              72
  43  Cup             -0.587         0.777          -0.918         0              90             0              72
  44  Mug             1.087          0.858          1.540          0              270            0              74
  45  StoveBurner     0.842          0.919          -1.098         0              0              0
  46  Cabinet         0.648          0.474          0.244          0              270            0
  47  StoveBurner     1.077          0.919          -1.504         0              0              0
  48  StoveBurner     0.842          0.919          -1.504         0              0              0
  49  Drawer          0.637          0.755          -0.649         0              270            0
  50  Cabinet         0.949          2.159          -2.375         0              270            0
  51  CounterTop      -1.238         0.968          -0.643         0              0              0
  52  CounterTop      0.931          0.946          -0.208         0              0              0
  53  StoveBurner     1.077          0.919          -1.098         0              0              0
  54  Drawer          0.637          0.268          -0.649         0              270            0
  55  Drawer          0.637          0.547          -0.649         0              270            0
  56  Cabinet         0.648          0.475          -1.714         0              0              0
  57  CounterTop      0.931          0.946          -2.051         0              0              0
  58  Cabinet         0.948          2.439          -1.780         0              270            0
  59  Cabinet         0.948          2.159          -0.140         0              270            0
  60  Cabinet         0.949          2.159          -0.758         0              270            0
  61  Sink            -0.699         0.927          -0.649         0              0              0
  62  LightSwitch     -2.371         1.218          3.049          0              180            0
  63  StoveKnob       0.673          0.899          -1.373         315            90             180
  64  StoveKnob       0.673          0.899          -1.519         315            90             180
  65  StoveKnob       0.673          0.899          -1.086         315            90             180
  66  StoveKnob       0.673          0.899          -1.237         315            90             180
  67  Toaster         0.984          0.900          0.329          0              270            0
  68  Window          0.014          0.998          -2.640         90             0              0
  69  Window          -2.996         0.998          -2.640         90             0              0
  70  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  71  GarbageCan      -0.946         -0.036         0.575          0              180            0
  72  SinkBasin       -0.698         0.765          -0.647         0              90             0
  73  Microwave       1.042          1.680          -1.295         0              270            0
  74  Fridge          0.966          0.0            1.253          0              0              0
  75  HousePlant      -1.354         0.919          -1.540         0              0              0
  76  Shelf           -1.635         0.172          2.715          0              180            0
  77  Shelf           -1.635         0.552          2.715          0              180            0
  78  Shelf           -1.635         0.880          2.715          0              180            0
  79  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  80  Chair           -1.832         0.002          -0.034         0              119.999        0
  81  Chair           -1.854         0.002          -0.956         0              67.887         0
  82  Faucet          -0.867         1.161          -0.651         0              0              0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn to the left and go around the island to the other side. | STEP 2: Pick up the tomato from the kitchen island.  | STEP 3: Turn around completely and head to the right. Then turn left once you reach the wall and go forward. Turn right and then left to face the oven.  | STEP 4: Place the tomato in the microwave above the oven. Heat the tomato then take it out.  | STEP 5: Turn left then turn right twice to face a black bin. | STEP 6: Place the tomato inside the black bin.  | END