Task: To heat a tomato slice and place 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          0.0            0              0              0
   1  Potato          1.729          0.221          0.623          0              0              0              87
   2  Potato          1.364          0.954          -1.088         0              225            0              62
   3  DishSponge      -2.313         0.114          1.423          0              0              0              54
   4  DishSponge      1.341          0.910          0.376          0              0              0              57
   5  Kettle          1.412          0.929          -0.335         0              0              0              49
   6  Kettle          1.411          0.929          0.064          0              0              0              77
   7  Fork            1.598          0.911          0.494          0              0              0              57
   8  Fork            -0.471         0.911          0.423          0              0              0              48
   9  Spoon           -2.379         0.775          -0.025         0              90             0              66
  10  Spatula         -2.287         0.788          1.274          0              90             0              79
  11  Cup             -2.393         1.087          -0.979         0              90             0              80
  12  Plate           1.734          1.659          0.239          0              0              0              67
  13  Plate           -0.601         0.913          1.764          0              0              0              48
  14  Knife           -2.379         0.798          1.417          0              270            0              79
  15  Tomato          -2.420         0.637          -1.051         0              90             0              80
  16  Tomato          -0.601         0.953          0.423          0              0              0              48
  17  Bowl            -2.605         1.534          2.550          0              0              0              52
  18  PepperShaker    1.855          0.906          0.346          0              0              0              57
  19  Lettuce         -0.341         0.994          0.870          0              0              0              48
  20  Lettuce         -2.485         1.172          -0.790         0              90             0              80
  21  Bread           -2.206         0.996          0.931          0              0              0              76
  22  Mug             0.464          0.955          -1.593         0              0              0              58
  23  Mug             -2.439         1.295          -0.602         0              90             0              80
  24  Apple           0.048          0.972          1.540          0              0              0              48
  25  Pan             0.0            0.9            0.948          0              29.999         0              48
  26  Knife           1.568          0.936          -0.767         0              45             0              58
  27  Apple           -2.206         0.972          0.631          0              0              0              76
  28  Bowl            0.048          0.908          0.647          0              0              0              48
  29  Fork            -2.455         0.911          0.031          0              0              0              76
  30  Bread           -0.341         0.996          1.764          0              0              0              48
  31  Plate           -2.372         0.913          1.230          0              0              0              76
  32  Egg             1.520          0.215          0.651          0              0              0              87
  33  Kettle          0.048          0.911          0.423          0              0              0              48
  34  Potato          -2.558         0.214          -0.902         0              270            0              80
  35  SaltShaker      -2.455         0.905          1.530          0              0              0              76
  36  Lettuce         1.442          1.001          -1.220         0              225            0              62
  37  Cup             1.807          1.654          0.018          0              0              0              67
  38  SoapBottle      -2.704         0.912          0.631          0              0              0              76
  39  Spatula         -2.318         0.789          1.000          0              270            0              53
  40  PaperTowelRoll  1.512          1.015          0.346          0              0              0              57
  41  ButterKnife     -0.211         0.910          0.870          0              0              0              48
  42  PepperShaker    -2.277         0.109          1.319          0              0              0              54
  43  DishSponge      -2.647         1.933          -0.976         0              0              0              69
  44  Pot             1.691          0.929          0.064          0              0              0              59
  45  Spoon           1.310          0.919          -1.142         0              225            0              62
  46  Tomato          1.604          0.227          0.679          0              0              0              87
  47  Mug             0.373          1.658          -1.839         0              90             0              55
  48  CounterTop      -0.360         0.946          1.093          0              0              0
  49  StoveBurner     1.412          0.923          -0.335         0              0              0
  50  StoveKnob       1.878          1.093          0.018          287.989        90             0
  51  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  52  Cabinet         -2.446         1.948          2.924          0              0              0
  53  Drawer          -2.276         0.792          0.902          0              0              0
  54  Cabinet         -2.145         0.402          1.578          0              0              0
  55  Cabinet         0.149          2.008          -1.603         0              90             0
  56  StoveBurner     1.691          0.923          -0.335         0              0              0
  57  CounterTop      1.585          0.946          0.405          0              0              0
  58  CounterTop      0.474          0.946          -1.625         0              0              0
  59  StoveBurner     1.691          0.923          0.064          0              0              0
  60  Cabinet         -2.446         1.948          1.687          0              0              0
  61  Cabinet         -2.446         1.948          1.640          0              0              0
  62  Sink            1.381          0.810          -1.271         0              225            0
  63  StoveKnob       1.878          1.093          0.150          287.989        90             0
  64  Cabinet         -2.145         0.402          -0.236         0              0              0
  65  Drawer          -2.276         0.792          0.437          0              0              0
  66  Drawer          -2.276         0.792          -0.027         0              0              0
  67  Cabinet         1.572          2.008          0.474          0              0              0
  68  Cabinet         1.572          2.008          -0.775         0              0              0
  69  Cabinet         -2.445         2.148          -1.275         0              0              0
  70  Cabinet         -2.446         2.148          -0.284         0              0              0
  71  Cabinet         -2.446         1.948          0.355          0              0              0
  72  Cabinet         -2.446         1.948          0.405          0              0              0
  73  Cabinet         -2.145         0.402          0.644          0              0              0
  74  Cabinet         -2.145         0.402          0.695          0              0              0
  75  Cabinet         -2.285         1.968          -1.325         0              180            0
  76  CounterTop      -1.485         0.946          1.319          0              0              0
  77  StoveBurner     1.411          0.923          0.064          0              0              0
  78  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  79  Drawer          -2.276         0.792          1.368          0              0              0
  80  Fridge          -2.475         0.0            -0.782         0              90             0
  81  LightSwitch     -0.929         1.350          -1.950         0              0              0
  82  Toaster         -2.564         0.900          1.876          0              90             0
  83  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  84  Window          1.508          1.534          -1.496         90             135            0
  85  Window          1.973          1.521          1.121          90             90             0
  86  SinkBasin       1.149          0.753          -1.380         0              225            0
  87  GarbageCan      1.646          -0.000         0.679          0              0              0
  88  Microwave       -2.580         0.900          2.440          0              90             0
  89  Stool           0.439          0.010          0.747          0              0              0
  90  Stool           -2.303         0.010          1.839          0              0              0
  91  Faucet          1.235          1.138          -1.473         0              225            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn right and take a step, then turn left and take a step, then turn left to face the table in the center of the kitchen. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and step forward to face the trash can. | STEP 4: Cut the tomato in the trash can into slices. | STEP 5: Step to the right and face the counter. | STEP 6: Place the knife on the bottom left corner of the counter. | STEP 7: Step to the left and face the the trash can. | STEP 8: Pick up a slice of tomato from in the trash can. | STEP 9: Turn left and walk across the room, then turn left and walk across the room to face the microwave. | STEP 10: Heat the tomato slice in the microwave and then remove it. | STEP 11: Turn around and walk across the room, then turn right and walk forward to face the trash can. | STEP 12: Place the tomato slice in the trash can. | END