Task: Put a slice of heated tomato 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           1.25           0.900          -0.25          0              0              0
   1  Pan             -0.343         1.328          -1.809         0              90             0              45
   2  Pan             1.361          0.962          0.561          0              270            0              56
   3  Potato          -0.427         0.100          0.655          0              90             0              80
   4  Potato          -0.394         0.100          0.482          0              90             0              80
   5  ButterKnife     -2.614         0.952          0.614          0              270            0              84
   6  Fork            0.753          0.920          -1.649         0              270            0              49
   7  Spoon           -0.196         0.773          -1.538         0              90             0              54
   8  Cup             -0.028         0.104          0.358          0              0              0              61
   9  Cup             0.035          0.910          0.209          0              0              0              50
  10  Plate           1.724          0.913          0.623          0              0              0              66
  11  SoapBottle      0.856          0.918          -1.516         0              270            0              49
  12  Bowl            0.394          0.108          -1.472         0              180            0              48
  13  Bowl            1.754          1.328          -1.772         0              180            0              67
  14  SaltShaker      -2.614         0.948          0.435          0              90             0              84
  15  PepperShaker    -0.198         0.107          -1.582         0              0              0              60
  16  Bread           -2.065         1.035          0.255          0              90             0              84
  17  Bread           -2.065         1.035          0.614          0              90             0              84
  18  Lettuce         1.724          1.002          0.292          0              0              0              66
  19  Lettuce         -2.222         1.582          -1.763         0              0              0              81
  20  Apple           -2.135         1.118          -1.849         0              0              0              81
  21  Apple           -1.872         1.559          -1.720         0              0              0              81
  22  Bread           1.658          0.995          -1.571         0              0              0              51
  23  Knife           -1.928         0.977          0.345          0              90             0              84
  24  Fork            1.289          0.912          -1.654         0              0              0              51
  25  Bowl            -2.222         0.510          -1.806         0              0              0              81
  26  Kettle          -0.055         0.9            0.643          0              0              0              50
  27  Cup             -0.719         1.327          -1.883         0              180            0              45
  28  Tomato          0.035          0.961          0.458          0              0              0              50
  29  SoapBottle      0.960          0.918          -1.449         0              270            0              49
  30  Plate           -0.110         0.900          -1.596         0              0              0              51
  31  Pot             1.007          0.962          0.561          0              270            0              53
  32  Spatula         0.960          0.934          -1.715         0              90             0              49
  33  PaperTowelRoll  -2.614         1.056          0.345          0              90             0              84
  34  Egg             0.804          0.954          -1.715         0              270            0              49
  35  Lettuce         -1.791         1.042          0.614          0              90             0              84
  36  SaltShaker      0.621          0.106          0.383          0              0              0              62
  37  PepperShaker    -2.614         0.948          0.165          0              90             0              84
  38  Apple           -1.791         1.019          0.255          0              90             0              84
  39  ButterKnife     1.785          0.912          0.375          0              0              0              66
  40  Potato          1.907          0.942          0.623          0              0              0              66
  41  Pan             -2.340         0.951          0.524          0              90             0              84
  42  DishSponge      -0.678         0.772          -1.538         0              0              0              55
  43  Spoon           0.117          0.775          0.273          0              90             0              57
  44  Mug             0.618          0.945          0.469          0              180            0              75
  45  Cabinet         -0.193         1.688          -1.648         0              180            0
  46  StoveBurner     1.360          0.957          0.293          0              180            0
  47  Drawer          0.499          0.792          0.296          0              0              0
  48  Cabinet         0.095          0.400          -1.352         0              180            0
  49  Sink            0.711          0.817          -1.772         0              270            0
  50  CounterTop      0.280          0.947          0.458          0              0              0
  51  CounterTop      -0.680         0.947          -1.654         0              0              0
  52  Drawer          1.825          0.792          0.296          0              0              0
  53  StoveBurner     1.007          0.957          0.561          0              270            0
  54  Drawer          -0.150         0.792          -1.496         0              0              0
  55  Drawer          -0.586         0.792          -1.496         0              0              0
  56  StoveBurner     1.360          0.957          0.561          0              270            0
  57  Drawer          0.024          0.792          0.296          0              0              0
  58  Cabinet         1.079          0.400          -1.349         0              180            0
  59  Cabinet         1.669          0.402          0.151          0              0              0
  60  Cabinet         0.055          0.402          -1.351         0              0              0
  61  Cabinet         -0.180         0.402          0.151          0              0              0
  62  Cabinet         0.729          0.402          0.151          0              0              0
  63  StoveBurner     1.007          0.957          0.293          0              180            0
  64  Drawer          -1.100         0.792          -1.496         0              0              0
  65  Cabinet         -0.396         0.402          -1.351         0              0              0
  66  CounterTop      1.776          0.947          0.458          0              0              0
  67  Cabinet         1.974          1.688          -1.648         0              180            0
  68  Cabinet         -0.820         0.400          -1.349         0              180            0
  69  Toaster         0.305          0.900          0.552          0              180            0
  70  LightSwitch     -2.756         1.307          -0.987         0              90             0
  71  Window          0.582          1.613          -1.967         90             0              0
  72  Window          1.969          1.5            -0.615         90             270            0
  73  Microwave       -1.037         0.900          -1.723         0              0              0
  74  SinkBasin       0.377          0.765          -1.655         0              270            0
  75  CoffeeMachine   0.618          0.900          0.600          0              180            0
  76  StoveKnob       1.246          0.913          0.118          45             180            0
  77  StoveKnob       1.373          0.913          0.118          45             180            0
  78  StoveKnob       0.995          0.913          0.118          45             180            0
  79  StoveKnob       1.126          0.913          0.118          45             180            0
  80  GarbageCan      -0.368         -0.029         0.539          0              90             0
  81  Fridge          -2.134         0.0            -1.690         0              0              0
  82  Faucet          0.549          1.046          -1.833         0              232.527        0
  83  Stool           -1.475         0.000          0.414          1.233          280.375        0
  84  DiningTable     -2.255         -0.004         0.432          0              0              0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Go to the left, walk straight and turn right to go to the white table next to the door | STEP 2: Pick up the knife beside the bread and on top of the table | STEP 3: Walk back to the right to go to the counter top beside the green trash can | STEP 4: Slice the tomato beside the tea pot on the counter top using the knife.  | STEP 5: Turn around and face the sink | STEP 6: Open the drawer underneath the blue plate, put the knife in and close the drawer.  | STEP 7: Turn around and face the counter top again.  | STEP 8: Pick up the slice of tomato from on top of the counter top. | STEP 9: Walk to the left and turn left to go to the microwave on the other side.  | STEP 10: Open the microwave, put the slice of tomato in, heat it for a few seconds, pick it up again and close the microwave | STEP 11: Turn around to go to the green trash can nest to the counter top.  | STEP 12: Put the slice of tomato in the trash can. | END