Task: Putting a sliced tomato in the trash can

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            0.900          1.5            0              180            0
   1  Potato          1.769          0.947          0.435          0              0              0              60
   2  DishSponge      -2.318         0.772          0.952          0              0              0              56
   3  DishSponge      -2.257         0.772          1.322          0              0              0              82
   4  ButterKnife     -2.372         0.910          1.530          0              0              0              82
   5  Kettle          1.691          0.929          -0.335         0              0              0              59
   6  Kettle          1.697          1.657          0.018          0              0              0              70
   7  Spoon           -2.289         0.912          0.331          0              0              0              68
   8  Spatula         -2.227         0.789          -0.073         0              90             0              69
   9  Egg             1.729          0.215          0.706          0              0              0              90
  10  Egg             1.646          0.215          0.651          0              0              0              90
  11  Cup             1.248          0.916          -1.134         0              225            0              65
  12  Cup             1.399          0.916          -1.123         0              225            0              65
  13  Plate           -2.372         0.913          0.631          0              0              0              79
  14  Plate           -0.081         0.913          0.423          0              0              0              51
  15  Knife           -2.348         0.799          0.486          0              270            0              68
  16  Tomato          -2.439         1.342          -0.885         0              90             0              83
  17  Tomato          -2.538         0.953          1.530          0              0              0              79
  18  SoapBottle      1.353          0.920          -1.239         0              225            0              65
  19  SoapBottle      -0.471         0.912          1.540          0              0              0              51
  20  Bowl            -2.538         0.908          1.230          0              0              0              79
  21  PepperShaker    -2.599         1.533          0.774          0              0              0              75
  22  PepperShaker    0.660          1.658          -1.693         0              90             0              58
  23  SaltShaker      -0.081         0.905          1.094          0              0              0              51
  24  Lettuce         -2.372         0.994          0.931          0              0              0              79
  25  Lettuce         -2.466         0.677          -0.962         0              90             0              83
  26  Apple           -0.730         0.972          0.870          0              0              0              51
  27  Apple           -2.704         0.972          0.931          0              0              0              79
  28  Pan             1.411          0.929          0.064          0              0              0              80
  29  Knife           1.684          0.936          0.494          0              0              0              60
  30  Apple           -2.621         0.972          0.631          0              0              0              79
  31  Bowl            1.145          0.768          -1.376         0              225            0              89
  32  Fork            0.924          0.911          -1.729         0              45             0              61
  33  Bread           -0.730         0.996          1.094          0              0              0              51
  34  Plate           -2.351         0.900          0.054          0              0              0              79
  35  Egg             1.426          0.941          0.494          0              0              0              60
  36  Kettle          -2.310         0.115          -0.023         0              0              0              67
  37  Potato          1.341          0.947          0.406          0              0              0              60
  38  SaltShaker      -2.289         0.905          1.230          0              0              0              79
  39  Lettuce         -0.341         0.994          0.870          0              0              0              51
  40  Cup             -2.393         1.298          -1.074         0              90             0              83
  41  SoapBottle      1.698          1.665          -0.550         0              0              0              71
  42  Spatula         -2.704         0.925          1.230          0              90             0              79
  43  PaperTowelRoll  1.562          0.289          0.623          0              0              0              90
  44  ButterKnife     -2.621         0.910          0.031          0              0              0              79
  45  PepperShaker    -2.524         1.532          1.410          0              0              0              64
  46  DishSponge      -2.605         1.938          -0.409         0              0              0              73
  47  Pot             -2.311         0.105          0.895          0              270            0              77
  48  Spoon           1.428          0.912          -0.684         0              0              0              61
  49  Tomato          -2.532         1.342          -0.602         0              90             0              83
  50  Mug             0.464          0.955          -1.593         0              0              0              61
  51  CounterTop      -0.360         0.946          1.093          0              0              0
  52  StoveBurner     1.412          0.923          -0.335         0              0              0
  53  StoveKnob       1.878          1.093          0.018          287.989        90             0
  54  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  55  Cabinet         -2.446         1.948          2.924          0              0              0
  56  Drawer          -2.276         0.792          0.902          0              0              0
  57  Cabinet         -2.145         0.402          1.578          0              0              0
  58  Cabinet         0.149          2.008          -1.603         0              90             0
  59  StoveBurner     1.691          0.923          -0.335         0              0              0
  60  CounterTop      1.585          0.946          0.405          0              0              0
  61  CounterTop      0.474          0.946          -1.625         0              0              0
  62  StoveBurner     1.691          0.923          0.064          0              0              0
  63  Cabinet         -2.446         1.948          1.687          0              0              0
  64  Cabinet         -2.446         1.948          1.640          0              0              0
  65  Sink            1.381          0.810          -1.271         0              225            0
  66  StoveKnob       1.878          1.093          0.150          287.989        90             0
  67  Cabinet         -2.145         0.402          -0.236         0              0              0
  68  Drawer          -2.276         0.792          0.437          0              0              0
  69  Drawer          -2.276         0.792          -0.027         0              0              0
  70  Cabinet         1.572          2.008          0.474          0              0              0
  71  Cabinet         1.572          2.008          -0.775         0              0              0
  72  Cabinet         -2.445         2.148          -1.275         0              0              0
  73  Cabinet         -2.446         2.148          -0.284         0              0              0
  74  Cabinet         -2.446         1.948          0.355          0              0              0
  75  Cabinet         -2.446         1.948          0.405          0              0              0
  76  Cabinet         -2.145         0.402          0.644          0              0              0
  77  Cabinet         -2.145         0.402          0.695          0              0              0
  78  Cabinet         -2.285         1.968          -1.325         0              180            0
  79  CounterTop      -1.485         0.946          1.319          0              0              0
  80  StoveBurner     1.411          0.923          0.064          0              0              0
  81  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  82  Drawer          -2.276         0.792          1.368          0              0              0
  83  Fridge          -2.475         0.0            -0.782         0              90             0
  84  LightSwitch     -0.929         1.350          -1.950         0              0              0
  85  Toaster         -2.564         0.900          1.876          0              90             0
  86  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  87  Window          1.508          1.534          -1.496         90             135            0
  88  Window          1.973          1.521          1.121          90             90             0
  89  SinkBasin       1.149          0.753          -1.380         0              225            0
  90  GarbageCan      1.646          -0.000         0.679          0              0              0
  91  Microwave       -2.580         0.900          2.440          0              90             0
  92  Stool           0.439          0.010          0.747          0              0              0
  93  Stool           -2.303         0.010          1.839          0              0              0
  94  Faucet          1.235          1.138          -1.473         0              225            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Turn around and go to the counter with the toaster | STEP 2: Grab the knife off of the counter | STEP 3: Cut the tomato on the counter into slices | STEP 4: Turn right and stop at the microwave | STEP 5: Put the knife in the microwave | STEP 6: Turn left and stop at the counter | STEP 7: Grab a slice of tomato | STEP 8: Turn right and stop at the microwave | STEP 9: Heat the tomato in the microwave and then take it out | STEP 10: Turn around and go to the trash can | STEP 11: Put the tomato in the trash can | END