Task: Heat a slice of tomato 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           -1.5           0.900          2.25           0              270            0
   1  Potato          -2.519         1.234          2.221          0              90             0              72
   2  Egg             -2.752         1.227          2.165          0              90             0              72
   3  Plate           -2.563         0.826          3.331          0              0              0              63
   4  Plate           0.742          0.129          0.981          0              0              0              42
   5  Cup             -2.454         1.041          1.220          0              0              0              43
   6  Cup             -1.836         0.702          3.774          0              0              0              75
   7  Knife           -1.336         0.846          3.545          0              0              0              63
   8  Bowl            -2.519         0.765          2.277          0              90             0              72
   9  Lettuce         -1.317         0.976          0.937          0              90             0              81
  10  Bread           -2.519         1.048          2.221          0              90             0              72
  11  Mug             -2.454         0.152          1.220          0              0              0              48
  12  Plate           -1.749         1.687          3.897          0              0              0              35
  13  Fork            -0.789         0.901          1.452          0              180            0              81
  14  Bread           0.827          0.861          2.449          0              0              0              40
  15  Spatula         0.875          0.838          0.895          0              90             0              40
  16  PaperTowelRoll  0.800          0.927          2.111          0              0              0              45
  17  Potato          -2.678         1.650          2.221          0              90             0              72
  18  SoapBottle      0.950          0.822          1.072          0              90             0              40
  19  Egg             -2.710         1.444          2.221          0              90             0              72
  20  Cup             1.099          0.822          2.458          0              0              0              45
  21  Pot             0.642          0.850          1.768          0              0              0              67
  22  SaltShaker      -0.524         0.896          1.555          0              90             0              81
  23  Pan             -2.667         0.812          3.74           0              137.145        0              63
  24  PepperShaker    0.743          0.122          2.081          0              0              0              55
  25  ButterKnife     -1.317         0.900          1.349          0              90             0              81
  26  Tomato          -0.657         0.969          1.555          0              90             0              81
  27  DishSponge      -2.542         1.848          1.853          0              0              0              65
  28  Lettuce         -0.580         0.956          1.358          31.822         0              0              81
  29  Spoon           -1.317         0.901          1.040          0              0              0              81
  30  Apple           -2.694         0.828          2.277          0              90             0              72
  31  Knife           -0.921         0.923          1.349          0              270            0              81
  32  Mug             -1.109         0.940          1.203          0              0              0              81
  33  Bowl            -1.185         0.898          1.452          0              90             0              81
  34  Drawer          0.729          0.703          2.199          0              0              0
  35  Cabinet         -1.962         1.926          3.733          0              0              0
  36  Cabinet         -2.377         2.014          1.058          0              0              0
  37  Drawer          0.729          0.703          2.532          0              0              0
  38  Cabinet         -2.622         1.925          3.733          0              0              0
  39  StoveBurner     0.913          0.843          1.375          0              0              0
  40  CounterTop      0.864          0.858          0.984          0              0              0
  41  Cabinet         -1.976         1.779          3.734          0              0              0
  42  Cabinet         0.580          0.385          0.819          0              0              0
  43  Cabinet         -2.379         1.408          1.677          0              0              0
  44  Cabinet         -0.419         1.703          3.736          0              0              0
  45  CounterTop      0.864          0.858          2.371          0              0              0
  46  Sink            -1.702         0.726          3.828          0              180            0
  47  Cabinet         0.580          0.385          2.694          0              0              0
  48  Cabinet         -2.379         0.637          1.677          0              0              0
  49  Cabinet         -0.419         0.674          3.736          0              0              0
  50  Cabinet         -2.377         2.014          2.558          0              0              0
  51  Drawer          0.729          0.703          0.980          0              0              0
  52  Drawer          -2.114         0.706          3.657          0              0              0
  53  Cabinet         -2.377         1.691          2.572          0              0              0
  54  Cabinet         -2.951         1.925          3.733          0              0              0
  55  Cabinet         0.580          0.385          2.360          0              0              0
  56  Cabinet         -2.426         0.435          3.421          0              0              0
  57  StoveBurner     0.642          0.843          1.375          0              0              0
  58  Cabinet         -2.377         1.927          1.686          0              0              0
  59  Cabinet         -2.377         2.013          3.177          0              0              0
  60  Cabinet         -1.136         0.385          3.516          0              0              0
  61  StoveBurner     0.913          0.843          1.768          0              0              0
  62  Cabinet         -1.974         0.385          3.516          0              0              0
  63  CounterTop      -2.081         0.858          3.799          0              0              0
  64  Cabinet         -2.426         0.435          3.174          0              0              0
  65  Cabinet         -2.377         2.014          1.693          0              0              0
  66  Cabinet         -1.986         0.385          3.511          0              0              0
  67  StoveBurner     0.642          0.843          1.768          0              0              0
  68  Cabinet         -1.098         1.926          3.729          0              0              0
  69  Microwave       -1.529         1.250          3.881          1.622          180            0
  70  CoffeeMachine   1.000          0.812          2.492          0              270            0
  71  LightSwitch     0.825          1.396          4.082          0              180            0
  72  Fridge          -2.642         0.0            2.134          0              180            0
  73  Window          -1.131         1.673          0.808          90             0              0
  74  GarbageCan      0.931          -0.000         2.918          0              0              0
  75  SinkBasin       -1.601         0.686          3.774          0              0              0
  76  StoveKnob       1.104          1.002          1.886          0              0              70.346
  77  StoveKnob       1.104          1.002          1.733          0              0              70.346
  78  StoveKnob       1.104          1.002          1.321          0              0              70.346
  79  StoveKnob       1.104          1.002          1.481          0              0              70.346
  80  Toaster         -2.247         0.812          3.862          0              180            0
  81  DiningTable     -0.917         -0.000         1.203          0              0              0
  82  Stool           -0.932         0.000          1.404          1.196          21.715         0
  83  Faucet          -1.842         0.809          3.984          0              180            0
  84  Faucet          -1.371         0.809          3.985          0              180            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn around and face the end of the long table. | STEP 2: Pick up the knife on the table. | STEP 3: Walk around the table to face the tomato on the table. | STEP 4: Cut the tomato on the table into slices. | STEP 5: Turn around and walk across the room to face the microwave. | STEP 6: Place the knife in the microwave. | STEP 7: Turn around and step forward to face the tomato. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn around 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 left and walk across the room to face the trash can. | STEP 12: Place the tomato slice in the trash can. | END