Task: Heat up a tomato slice in the microwave and put it 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              0              0
   1  Glassbottle     -2.096         0.924          -1.884         0              0              0              81
   2  Glassbottle     -0.460         0.082          -1.712         0              0              0              51
   3  Pen             -2.096         0.926          -2.115         0              0              0              81
   4  Potato          -0.392         1.422          -0.665         0              270            0              73
   5  DishSponge      -0.671         0.915          -3.697         0              0              0              56
   6  ButterKnife     -2.666         0.923          -2.345         0              0              0              81
   7  WineBottle      -0.671         0.916          -3.555         0              0              0              56
   8  Pot             -1.515         0.935          -3.497         0              0              0              53
   9  Spoon           -2.324         0.924          -1.654         0              0              0              81
  10  Knife           -2.324         0.946          -1.884         0              0              0              81
  11  Plate           -0.457         0.918          -3.768         0              0              0              56
  12  Cup             -2.096         0.922          -1.423         0              0              0              81
  13  Egg             -2.210         0.956          -1.423         0              0              0              81
  14  Tomato          -0.268         1.754          -0.770         0              270            0              73
  15  Tomato          -2.552         0.987          -1.884         0              0              0              81
  16  Bowl            -0.295         1.389          -0.979         0              270            0              73
  17  Bowl            -0.422         0.080          -2.247         0              0              0              61
  18  Lettuce         -2.780         1.016          -2.345         0              0              0              81
  19  Lettuce         -2.780         1.016          -2.115         0              0              0              81
  20  Bread           -0.295         1.151          -0.665         0              270            0              73
  21  Bread           -0.295         1.151          -0.979         0              270            0              73
  22  PepperShaker    -0.807         0.743          -3.586         0              0              0              55
  23  PepperShaker    -0.288         1.527          -3.575         0              45             0              64
  24  Mug             -0.365         0.910          -3.368         0              180            0              56
  25  Apple           -1.881         0.100          -3.727         0              0              0              72
  26  Apple           -2.006         0.100          -3.763         0              0              0              72
  27  Lettuce         -2.438         1.016          -1.423         0              0              0              81
  28  Glassbottle     -2.780         0.924          -1.884         0              0              0              81
  29  Egg             -0.222         0.948          -3.368         0              0              0              56
  30  Pen             -2.780         0.926          -1.654         0              0              0              81
  31  Fork            -2.552         0.924          -1.423         0              180            0              81
  32  SoapBottle      -0.211         1.526          -2.703         0              0              0              68
  33  Pencil          -1.943         0.027          -3.799         0              0              0              72
  34  WineBottle      -0.778         0.083          -3.545         0              0              0              60
  35  Spatula         -2.210         0.938          -2.115         0              0              0              81
  36  Bread           -0.308         1.743          -0.560         0              270            0              73
  37  Tomato          -2.666         0.987          -1.654         0              0              0              81
  38  Pan             -2.174         0.913          -1.099         0              0              0              81
  39  Cup             -0.180         1.969          -2.192         0              0              0              63
  40  Pot             -1.129         0.935          -3.498         0              0              0              54
  41  SaltShaker      -0.449         0.743          -3.238         0              0              0              67
  42  Potato          -0.350         0.828          -2.155         0              270            0              74
  43  PepperShaker    -2.552         0.919          -0.963         0              0              0              81
  44  ButterKnife     -2.324         0.923          -1.423         0              0              0              81
  45  DishSponge      -2.210         0.923          -2.345         0              0              0              81
  46  Spoon           -0.436         0.916          -2.764         0              0              0              56
  47  Plate           -2.666         0.925          -1.193         0              0              0              81
  48  Knife           -2.438         0.946          -0.963         0              0              0              81
  49  Mug             -0.351         0.962          -3.144         0              270            0              70
  50  Bowl            -1.309         1.629          -3.870         0              0              0              69
  51  Cabinet         -0.582         0.388          -1.804         0              0              0
  52  StoveBurner     -1.515         0.928          -3.752         0              90             0
  53  StoveBurner     -1.515         0.928          -3.497         0              0              0
  54  StoveBurner     -1.129         0.928          -3.498         0              0              0
  55  Drawer          -0.749         0.779          -3.551         0              0              0
  56  CounterTop      -0.303         0.951          -2.793         0              0              0
  57  Cabinet         -0.883         2.140          -3.687         0              0              0
  58  Cabinet         -0.312         2.140          -1.543         0              0              0
  59  Sink            -0.349         0.907          -2.014         0              0              0
  60  Cabinet         -0.877         0.388          -3.422         0              0              0
  61  Cabinet         -0.582         0.388          -2.197         0              0              0
  62  Cabinet         -0.584         0.388          -3.396         0              0              0
  63  Cabinet         -0.312         2.140          -2.481         0              0              0
  64  Cabinet         -0.330         1.921          -3.390         0              0              0
  65  Cabinet         -1.764         2.140          -3.687         0              0              0
  66  StoveBurner     -1.129         0.928          -3.752         0              90             0
  67  Drawer          -0.454         0.779          -3.268         0              0              0
  68  Cabinet         -0.302         1.916          -2.501         0              0              0
  69  Microwave       -1.317         1.517          -3.801         0              1.440          0
  70  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  71  LightSwitch     -4.323         1.319          0.0            0              180            0
  72  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  73  Fridge          -0.330         0.0            -0.769         0              270            0
  74  SinkBasin       -0.350         0.786          -2.018         0              270            0
  75  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  76  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  77  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  78  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  79  Toaster         -0.181         0.903          -2.764         0              270            0
  80  Window          -2.503         1.782          -4.185         90             180            0
  81  DiningTable     -2.432         0.000          -1.694         0              270            0
  82  Shelf           -2.432         0.150          -1.694         0              270            0
  83  Blinds          -2.536         2.699          -3.959         0              0              0
  84  Faucet          -0.079         0.904          -2.034         270            180            0
  85  Chair           -3.264         0.002          -2.094         0              53.280         0
  86  Chair           -3.240         0.002          -1.253         0              117.257        0
  87  Shelf           -2.432         0.523          -1.694         0              270            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn left and move in front of the green table. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Slice the tomato nearest to the upright bottle. | STEP 4: Turn around and move to the sink. | STEP 5: Put the knife in the cabinet under the sink. | STEP 6: Turn around and move to the green table. | STEP 7: Pick up a slice of tomato. | STEP 8: Turn left and move to the front of the stove. | STEP 9: Heat the tomato in the microwave and remove it. | STEP 10: Turn right and face the trash can next to the stove. | STEP 11: Place the tomato slice in the trash can. | END