Task: Put a microwaved tomato in the trash

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.75           0.900          3.0            0              0              0
   1  Pan             2.116          1.027          -1.84          0              270            0              53
   2  Potato          1.290          1.068          -1.881         0              90             0              49
   3  DishSponge      1.380          1.780          -1.950         0              0              0              89
   4  ButterKnife     -0.714         0.816          1.492          0              90             0              106
   5  Glassbottle     -0.577         0.817          1.337          0              90             0              106
   6  Pot             2.177          1.027          -1.599         0              0              0              48
   7  Pot             1.761          1.027          -1.599         0              0              0              92
   8  Spoon           2.621          1.028          -0.236         0              0              0              49
   9  Spoon           -0.645         0.817          1.492          0              90             0              106
  10  Plate           -0.782         0.817          1.181          0              90             0              106
  11  Plate           1.721          2.280          -1.834         0              0              0              65
  12  Tomato          -0.418         1.081          0.785          0              0              0              52
  13  Tomato          -0.922         1.495          -0.295         0              90             0              93
  14  Tomato          2.570          0.818          3.614          0              329.999        0              50
  15  SaltShaker      2.763          0.760          3.726          0              329.999        0              50
  16  Bread           2.580          0.832          4.099          0              225            0              50
  17  Lettuce         -0.922         1.500          -0.516         0              90             0              93
  18  Mug             -0.803         1.070          0.646          0              90             0              102
  19  Apple           2.451          0.814          3.97           0              225            0              50
  20  Apple           -0.922         1.492          -0.073         0              90             0              93
  21  Pan             2.042          1.017          1.779          0              0              0              49
  22  Glassbottle     2.738          0.765          3.942          0              225            0              50
  23  Knife           2.673          0.789          3.445          0              90             0              50
  24  SoapBottle      -0.418         1.026          2.311          0              0              0              52
  25  Egg             -0.577         0.860          1.492          0              90             0              106
  26  Fork            2.959          1.027          -0.541         0              0              0              49
  27  Potato          1.672          1.068          1.457          0              136.999        0              49
  28  Ladle           -0.544         1.066          0.416          0              0              0              52
  29  Tomato          -0.794         1.081          2.434          0              0              0              52
  30  Pot             1.836          1.027          -1.84          0              90             0              47
  31  WineBottle      -1.159         1.028          1.243          0              0              0              52
  32  Plate           2.451          0.764          3.821          0              270            0              50
  33  Spatula         1.409          1.041          -2.094         0              90             0              49
  34  PaperTowelRoll  -0.347         1.131          1.356          0              0              0              52
  35  Lettuce         -1.130         1.085          1.427          0              180            0              52
  36  Apple           2.460          0.814          4.399          0              329.999        0              50
  37  SaltShaker      2.410          1.023          -1.881         0              90             0              49
  38  PepperShaker    2.975          0.760          4.192          0              270            0              50
  39  ButterKnife     2.706          1.026          -1.151         0              0              0              49
  40  Bread           2.976          0.832          3.895          0              270            0              50
  41  Cup             2.706          1.025          -0.846         0              0              0              49
  42  DishSponge      -0.802         0.799          1.899          0              0              0              54
  43  Bowl            1.290          1.025          -1.667         0              90             0              49
  44  Spoon           2.500          0.802          0.573          0              47.0           0              61
  45  Mug             2.106          1.856          -1.910         0              90             0              95
  46  Sink            -0.716         1.023          1.333          0              0              0
  47  StoveBurner     1.835          1.018          -1.840         0              90             0
  48  StoveBurner     2.177          1.018          -1.599         0              0              0
  49  CounterTop      2.812          0.992          0.675          0              0              0
  50  DiningTable     2.419          0.003          3.930          0              0              0
  51  Drawer          -0.643         0.828          0.616          0              0              0
  52  CounterTop      -0.813         1.062          2.188          0              0              0
  53  StoveBurner     2.115          1.018          -1.840         0              270            0
  54  Drawer          -0.643         0.831          1.953          0              0              0
  55  Drawer          -0.643         0.833          2.418          0              0              0
  56  Drawer          1.347          0.836          -1.539         0              0              0
  57  Drawer          2.693          0.833          -1.131         0              0              0
  58  Drawer          2.693          0.833          -0.699         0              0              0
  59  Drawer          2.693          0.833          -0.267         0              0              0
  60  Drawer          2.693          0.833          0.163          0              0              0
  61  Drawer          2.524          0.833          0.720          0              2.000          0
  62  Drawer          2.232          0.833          1.036          0              2.000          0
  63  Drawer          1.936          0.833          1.354          0              2.000          0
  64  Drawer          1.646          0.833          1.670          0              2.000          0
  65  Cabinet         1.504          2.475          -1.710         0              0              0
  66  Cabinet         -0.823         2.220          1.621          0              0              0
  67  Cabinet         -0.823         2.220          0.615          0              0              0
  68  Cabinet         1.136          0.388          -1.355         0              0              0
  69  Cabinet         -0.356         0.383          2.626          0              0              0
  70  Cabinet         2.745          2.220          -1.690         0              0              0
  71  Cabinet         1.882          0.383          1.017          0              0              0
  72  Cabinet         1.307          0.473          1.640          0              0              0
  73  Cabinet         1.892          0.383          1.006          0              0              0
  74  Cabinet         2.467          0.383          0.383          0              0              0
  75  Cabinet         2.466          0.383          -0.475         0              0              0
  76  Cabinet         2.466          0.473          0.371          0              0              0
  77  Cabinet         2.386          2.475          -1.710         0              0              0
  78  Cabinet         -0.356         0.383          1.712          0              0              0
  79  Cabinet         2.745          2.220          0.019          0              0              0
  80  Cabinet         -0.663         2.496          0.157          0              0              0
  81  Cabinet         -0.663         2.496          -0.868         0              0              0
  82  Cabinet         -0.356         0.383          0.269          0              0              0
  83  Cabinet         -0.823         2.220          1.603          0              0              0
  84  Cabinet         -0.662         2.234          0.586          0              0              0
  85  Cabinet         2.745          2.220          -0.843         0              0              0
  86  Cabinet         2.745          2.220          -0.827         0              0              0
  87  Cabinet         -0.823         2.220          2.608          0              0              0
  88  Cabinet         2.732          2.226          -1.709         0              0              0
  89  Cabinet         1.137          2.226          -1.709         0              0              0
  90  Cabinet         2.466          0.383          -0.491         0              0              0
  91  Cabinet         2.466          0.383          -1.339         0              0              0
  92  StoveBurner     1.761          1.018          -1.599         0              0              0
  93  Fridge          -0.908         0.0            -0.405         0              0              0
  94  HousePlant      2.517          1.016          1.822          0              0              0
  95  Microwave       1.939          1.745          -1.826         0              0              0
  96  StoveKnob       2.017          1.041          -1.514         0              180            180
  97  StoveKnob       1.934          1.041          -1.514         0              180            180
  98  StoveKnob       2.017          1.041          -1.589         0              180            180
  99  StoveKnob       1.934          1.041          -1.589         0              180            180
 100  Window          1.756          1.608          4.762          90             0              0
 101  HousePlant      2.171          1.004          2.091          0              0              0
 102  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 103  LightSwitch     -0.099         1.410          -2.066         0              0              0
 104  GarbageCan      -0.951         -0.029         2.826          0              0              0
 105  Toaster         -1.007         1.018          2.238          0              90             0
 106  SinkBasin       -0.714         0.805          1.348          0              90             0
 107  Chair           1.615          0.004          4.310          0              107.976        0
 108  Faucet          -1.120         1.013          1.334          0              90             0
 109  Chair           2.759          0.004          3.086          0              358.967        0
 110
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Move to the left then face the white table top where the tomato is | STEP 2: Pick up the tomato on the table top | STEP 3: Move straight back to the microwave above the stove top | STEP 4: Place the tomato in the microwave, heat it then remove the tomato and shut the door | STEP 5: Carry the tomato to the trash can at the end of the counter top | STEP 6: Place the tomato in the trash | END