Task: Place a cooked tomato in the waste basket

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          2.75           0              270            0
   1  CellPhone       0.321          0.923          0.970          0              0              0              77
   2  CellPhone       -0.320         0.923          0.970          0              0              0              77
   3  Ladle           -0.990         1.724          -1.614         0              0              0              71
   4  Ladle           1.962          1.703          -1.280         0              270            0              57
   5  Kettle          -0.320         0.926          0.273          0              0              0              77
   6  Kettle          1.975          0.938          0.819          0              180            0              79
   7  ButterKnife     0.000          0.925          0.506          0              0              0              77
   8  Spoon           1.714          0.584          0.125          0              270            0              54
   9  Spatula         0.107          0.940          -0.190         0              0              0              77
  10  Egg             -0.002         0.817          -1.324         0              0              0              93
  11  Egg             -1.750         1.729          -0.269         0              90             0              92
  12  Cup             -1.697         1.675          0.201          0              90             0              92
  13  Cup             -1.727         0.909          -0.864         0              0              0              69
  14  Knife           1.769          0.784          1.001          0              0              0              75
  15  SoapBottle      -1.880         1.665          -0.980         0              90             0              56
  16  Bowl            -0.106         0.924          0.970          0              0              0              77
  17  Bowl            -1.855         1.467          -0.175         0              90             0              92
  18  SaltShaker      -0.106         0.921          0.041          0              0              0              77
  19  PepperShaker    0.904          0.667          -1.332         0              0              0              50
  20  Lettuce         0.214          1.002          0.506          0              0              0              77
  21  Mug             -0.175         0.755          -1.490         0              0              0              93
  22  Apple           -1.697         1.522          -0.081         0              90             0              92
  23  Apple           -1.783         0.892          0.013          0              90             0              92
  24  SoapBottle      0.305          0.116          -1.534         0              0              0              58
  25  Cup             -1.692         0.561          -0.081         0              90             0              92
  26  Pot             1.975          0.938          0.384          0              180            0              55
  27  Fork            0.170          0.761          -1.380         0              270            0              93
  28  Ladle           1.769          0.164          0.454          0              270            0              61
  29  Kettle          0.107          0.926          0.970          0              0              0              77
  30  Egg             2.030          0.968          -1.221         0              0              0              69
  31  Plate           -1.803         1.467          0.107          0              90             0              92
  32  Pan             1.839          0.911          -0.131         0              180            0              69
  33  Lettuce         -1.874         0.988          -1.415         0              0              0              69
  34  Spatula         1.769          0.135          0.527          0              0              0              61
  35  Apple           0.083          0.813          -1.435         0              0              0              93
  36  Knife           -0.088         0.782          -1.435         0              180            0              93
  37  SaltShaker      -1.336         0.109          -1.423         0              0              0              81
  38  PepperShaker    -0.193         0.111          -1.534         0              0              0              48
  39  CellPhone       1.824          0.581          -0.092         0              270            0              54
  40  ButterKnife     1.574          0.911          -1.318         0              0              0              69
  41  Bread           1.726          0.992          1.258          0              0              0              69
  42  Tomato          -0.320         0.980          0.738          0              0              0              77
  43  Potato          1.653          0.935          -0.289         0              0              0              69
  44  DishSponge      -0.213         0.925          0.506          0              0              0              77
  45  Spoon           1.658          0.764          1.220          0              270            0              75
  46  Mug             -0.175         0.755          -1.324         0              0              0              93
  47  Bowl            -0.106         0.924          1.202          0              0              0              77
  48  Cabinet         -0.495         0.474          -1.149         0              0              0
  49  Window          -0.010         1.582          -1.821         0              0              0
  50  Drawer          0.805          0.475          -1.159         0              0              0
  51  StoveBurner     1.764          0.902          0.601          0              270            0
  52  Drawer          1.5            0.196          -0.019         0              0              0
  53  Drawer          1.5            0.629          -0.018         0              0              0
  54  Drawer          1.5            0.602          -0.019         0              270            0
  55  StoveBurner     1.975          0.902          0.384          0              270            0
  56  Cabinet         -1.703         2.022          -1.453         0              90             0
  57  Cabinet         1.789          2.019          -0.819         0              270            0
  58  Cabinet         0.494          0.474          -1.149         0              0              0
  59  Cabinet         0.409          0.475          0.444          0              0              0
  60  Drawer          -0.696         0.475          -1.159         0              0              0
  61  Drawer          1.5            0.140          0.599          0              270            0
  62  Cabinet         1.389          0.474          -1.149         0              0              0
  63  Drawer          1.5            0.305          0.600          0              0              0
  64  StoveBurner     1.975          0.902          0.601          0              270            0
  65  Drawer          1.5            0.429          -0.019         0              0              0
  66  StoveBurner     1.764          0.902          0.819          0              270            0
  67  Drawer          1.5            0.519          1.220          0              0              0
  68  Cabinet         1.705          2.019          -1.449         0              0              0
  69  CounterTop      0.002          0.947          -1.513         0              0              0
  70  Drawer          1.5            0.629          0.605          0              0              0
  71  Cabinet         -0.627         2.019          -1.449         0              0              0
  72  StoveBurner     1.764          0.902          0.384          0              270            0
  73  Drawer          1.5            0.538          0.600          0              0              0
  74  Sink            0.0            0.893          -1.434         0              0              0
  75  Drawer          1.5            0.782          1.220          0              270            0
  76  Window          2.217          1.565          -0.384         0              0              0
  77  CounterTop      -0.014         0.961          0.505          0              0              0
  78  Drawer          1.5            0.200          1.220          0              0              0
  79  StoveBurner     1.975          0.902          0.819          0              270            0
  80  Window          -3.240         1.616          2.693          0              270            0
  81  Cabinet         -1.389         0.474          -1.149         0              0              0
  82  LightSwitch     -0.153         1.291          3.700          0              180            0
  83  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  84  StoveKnob       1.602          0.917          0.570          0              270            180
  85  StoveKnob       1.602          0.917          0.625          0              270            180
  86  StoveKnob       1.602          0.917          0.739          0              270            180
  87  StoveKnob       1.602          0.917          0.680          0              270            180
  88  StoveKnob       1.602          0.917          0.462          0              270            180
  89  StoveKnob       1.602          0.917          0.517          0              270            180
  90  Microwave       1.932          0.899          -0.766         0              270            0
  91  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  92  Fridge          -1.764         0.0            0.014          0              90             0
  93  SinkBasin       -0.014         0.736          -1.435         0              0              0
  94  Toaster         1.977          0.900          -0.336         0              270            0
  95  Faucet          -0.020         1.137          -1.605         0              270            0
  96  Chair           -9.354         0.000          1.242          0              180            0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: turn to the left and go to the middle of the kitchen island and turn to the left and step to the counter top | STEP 2: take the tomato from the counter top | STEP 3: turn to the right and go to the counter top and turn to the left and go to the microwave | STEP 4: put the tomato in the microwave and cook it and when finish cooking take out the tomato from the microwave | STEP 5: turn to the right twice and go to the counter and turn to the right and go past clear the kitchen island and turn to the left go to the waste basket | STEP 6: put the tomato in the waste basket | END