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           0.0            0.900          3.5            0              90             0
   1  Potato          -1.468         0.740          3.774          0              0              0              84
   2  Potato          0.725          0.866          2.111          0              0              0              54
   3  DishSponge      -2.744         0.822          4.022          0              0              0              72
   4  Pot             0.913          0.850          1.375          0              0              0              48
   5  Spatula         -0.524         0.915          1.040          0              90             0              90
   6  Spatula         1.024          0.838          2.371          0              90             0              54
   7  Spoon           -1.053         0.901          1.452          0              90             0              90
   8  Egg             -1.746         1.395          3.934          0              180            0              78
   9  Egg             1.099          0.859          0.984          0              0              0              49
  10  Plate           -1.717         0.131          3.675          0              0              0              71
  11  Cup             -1.317         0.900          1.349          0              90             0              90
  12  Cup             -0.921         0.900          1.349          0              90             0              90
  13  Knife           -1.457         0.846          3.535          0              0              0              72
  14  Tomato          -1.317         0.969          0.937          0              90             0              90
  15  Bowl            -2.677         1.406          2.277          0              90             0              81
  16  Bowl            -2.577         0.993          2.165          0              90             0              81
  17  Mug             -1.109         0.940          1.203          0              0              0              90
  18  Mug             -2.463         1.393          3.976          0              0              0              47
  19  Apple           -2.711         1.668          2.446          0              90             0              81
  20  Apple           0.950          0.884          2.631          0              0              0              54
  21  Plate           0.860          0.812          0.975          0              0              0              49
  22  Fork            -1.185         0.901          1.555          0              0              0              90
  23  Bread           0.827          0.861          2.449          0              0              0              49
  24  Spatula         -0.657         0.915          0.937          0              180            0              90
  25  PaperTowelRoll  -0.657         1.004          1.143          0              90             0              90
  26  Potato          -0.789         0.943          1.555          0              90             0              90
  27  SoapBottle      -1.317         0.900          1.246          0              90             0              90
  28  Egg             0.875          0.859          2.198          0              0              0              54
  29  Cup             -2.498         0.718          1.866          0              90             0              81
  30  Pot             0.913          0.850          1.768          0              0              0              70
  31  SaltShaker      -0.524         0.896          1.349          0              90             0              90
  32  Pan             -2.667         0.812          3.74           0              137.145        0              72
  33  PepperShaker    -2.021         1.395          3.818          0              0              0              50
  34  ButterKnife     -0.789         0.900          1.452          0              90             0              90
  35  Tomato          -2.707         0.891          3.405          0              0              0              72
  36  DishSponge      0.650          0.822          0.984          0              0              0              49
  37  Lettuce         -2.577         0.843          2.333          0              90             0              81
  38  Spoon           -0.524         0.901          1.246          0              180            0              90
  39  Apple           0.960          0.085          2.918          0              0              0              83
  40  Knife           1.024          0.846          0.939          0              90             0              49
  41  Mug             -1.642         1.354          3.967          0              270            0              78
  42  Bowl            0.703          0.123          0.981          0              0              0              51
  43  Drawer          0.729          0.703          2.199          0              0              0
  44  Cabinet         -1.962         1.926          3.733          0              0              0
  45  Cabinet         -2.377         2.014          1.058          0              0              0
  46  Drawer          0.729          0.703          2.532          0              0              0
  47  Cabinet         -2.622         1.925          3.733          0              0              0
  48  StoveBurner     0.913          0.843          1.375          0              0              0
  49  CounterTop      0.864          0.858          0.984          0              0              0
  50  Cabinet         -1.976         1.779          3.734          0              0              0
  51  Cabinet         0.580          0.385          0.819          0              0              0
  52  Cabinet         -2.379         1.408          1.677          0              0              0
  53  Cabinet         -0.419         1.703          3.736          0              0              0
  54  CounterTop      0.864          0.858          2.371          0              0              0
  55  Sink            -1.702         0.726          3.828          0              180            0
  56  Cabinet         0.580          0.385          2.694          0              0              0
  57  Cabinet         -2.379         0.637          1.677          0              0              0
  58  Cabinet         -0.419         0.674          3.736          0              0              0
  59  Cabinet         -2.377         2.014          2.558          0              0              0
  60  Drawer          0.729          0.703          0.980          0              0              0
  61  Drawer          -2.114         0.706          3.657          0              0              0
  62  Cabinet         -2.377         1.691          2.572          0              0              0
  63  Cabinet         -2.951         1.925          3.733          0              0              0
  64  Cabinet         0.580          0.385          2.360          0              0              0
  65  Cabinet         -2.426         0.435          3.421          0              0              0
  66  StoveBurner     0.642          0.843          1.375          0              0              0
  67  Cabinet         -2.377         1.927          1.686          0              0              0
  68  Cabinet         -2.377         2.013          3.177          0              0              0
  69  Cabinet         -1.136         0.385          3.516          0              0              0
  70  StoveBurner     0.913          0.843          1.768          0              0              0
  71  Cabinet         -1.974         0.385          3.516          0              0              0
  72  CounterTop      -2.081         0.858          3.799          0              0              0
  73  Cabinet         -2.426         0.435          3.174          0              0              0
  74  Cabinet         -2.377         2.014          1.693          0              0              0
  75  Cabinet         -1.986         0.385          3.511          0              0              0
  76  StoveBurner     0.642          0.843          1.768          0              0              0
  77  Cabinet         -1.098         1.926          3.729          0              0              0
  78  Microwave       -1.529         1.250          3.881          1.622          180            0
  79  CoffeeMachine   1.000          0.812          2.492          0              270            0
  80  LightSwitch     0.825          1.396          4.082          0              180            0
  81  Fridge          -2.642         0.0            2.134          0              180            0
  82  Window          -1.131         1.673          0.808          90             0              0
  83  GarbageCan      0.931          -0.000         2.918          0              0              0
  84  SinkBasin       -1.601         0.686          3.774          0              0              0
  85  StoveKnob       1.104          1.002          1.886          0              0              70.346
  86  StoveKnob       1.104          1.002          1.733          0              0              70.346
  87  StoveKnob       1.104          1.002          1.321          0              0              70.346
  88  StoveKnob       1.104          1.002          1.481          0              0              70.346
  89  Toaster         -2.247         0.812          3.862          0              180            0
  90  DiningTable     -0.917         -0.000         1.203          0              0              0
  91  Stool           -0.932         0.000          1.404          1.196          21.715         0
  92  Faucet          -1.842         0.809          3.984          0              180            0
  93  Faucet          -1.371         0.809          3.985          0              180            0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn to the left and walk over to face the sink. | STEP 2: Pick up the knife on the edge of the sink. | STEP 3: Turn to the left and face the tomato on the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Turn to the right to face the sink. | STEP 6: Place the knife on the edge of the sink. | STEP 7: Turn to the left to face the tomato on the counter. | STEP 8: Pick up a slice of the tomato on the counter. | STEP 9: Turn right and face the microwave above the sink. | STEP 10: Heat the tomato slice and remove it from the microwave. | STEP 11: Turn right and walk forward to face the trash can. | STEP 12: Place the tomato slice in the trash can. | END