Task: Put a microwaved tomato in the garbage can

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          0.25           0              90             0
   1  Pan             2.754          1.026          1.350          0              136.999        0              60
   2  Potato          -0.418         1.069          2.189          0              0              0              63
   3  Potato          -0.947         0.828          -0.516         0              90             0              104
   4  Ladle           -0.660         0.839          2.007          0              0              0              65
   5  DishSponge      2.276          0.764          3.747          0              270            0              61
   6  DishSponge      -0.577         0.816          1.259          0              90             0              117
   7  ButterKnife     -0.645         0.816          1.259          0              90             0              117
   8  ButterKnife     1.925          0.764          3.895          0              270            0              61
   9  WineBottle      3.043          1.027          -1.456         0              0              0              60
  10  WineBottle      1.469          1.027          -1.881         0              90             0              60
  11  Glassbottle     -0.782         0.817          1.492          0              90             0              117
  12  Glassbottle     1.290          1.027          -1.560         0              90             0              60
  13  Pot             1.836          1.027          -1.84          0              90             0              58
  14  Fork            2.706          0.803          -1.178         0              0              0              60
  15  Fork            2.308          0.802          1.173          0              317.0          0              73
  16  Egg             -0.877         1.486          -0.405         0              90             0              104
  17  Cup             3.043          1.025          -0.236         0              0              0              60
  18  Cup             2.633          0.763          4.047          0              225            0              61
  19  Knife           2.788          0.789          4.412          0              225            0              61
  20  Tomato          -0.877         1.495          -0.738         0              90             0              104
  21  SoapBottle      2.166          0.763          4.017          0              329.999        0              61
  22  SaltShaker      2.893          1.023          1.200          0              136.999        0              60
  23  PepperShaker    2.537          1.023          -0.236         0              0              0              60
  24  Bread           2.599          0.832          4.495          0              0              0              61
  25  Bread           2.875          1.094          -1.151         0              0              0              60
  26  Lettuce         2.528          0.822          4.152          0              225            0              61
  27  Lettuce         2.302          0.822          4.145          0              0              0              61
  28  Mug             2.763          0.759          4.177          0              225            0              61
  29  Mug             -0.577         0.811          1.414          0              90             0              117
  30  Apple           2.976          0.814          4.044          0              270            0              61
  31  Apple           -0.782         0.866          1.103          0              90             0              117
  32  Pan             2.116          1.027          -1.84          0              270            0              64
  33  Glassbottle     2.959          1.027          -0.846         0              0              0              60
  34  Knife           2.451          0.789          4.495          0              0              0              61
  35  SoapBottle      2.671          0.763          3.885          0              329.999        0              61
  36  Egg             -1.028         0.830          -0.627         0              90             0              104
  37  Fork            -0.448         0.800          1.844          0              90             0              65
  38  Potato          -1.059         1.484          -0.184         0              90             0              104
  39  Ladle           2.621          1.066          -0.846         0              0              0              60
  40  Tomato          -1.069         0.839          -0.184         0              90             0              104
  41  Pot             1.638          1.029          1.704          0              136.999        0              60
  42  WineBottle      1.170          1.027          -1.881         0              90             0              60
  43  Plate           2.875          1.027          -1.762         0              0              0              60
  44  Spatula         -0.590         0.817          0.373          0              90             0              62
  45  PaperTowelRoll  2.790          0.868          3.529          0              329.999        0              61
  46  Lettuce         -1.013         1.500          -0.516         0              90             0              104
  47  Apple           3.043          1.077          -0.541         0              0              0              60
  48  SaltShaker      2.451          0.760          3.821          0              270            0              61
  49  PepperShaker    -0.518         0.797          2.556          0              0              0              66
  50  ButterKnife     2.762          0.801          -0.267         0              0              0              60
  51  Bread           2.662          0.832          3.455          0              329.999        0              61
  52  Cup             2.451          0.763          3.97           0              0              0              61
  53  DishSponge      -0.360         1.027          1.356          0              0              0              63
  54  Bowl            -0.858         0.332          -0.516         0              90             0              104
  55  Spoon           2.706          1.028          -0.541         0              0              0              60
  56  Mug             -0.418         1.022          2.556          0              0              0              63
  57  Sink            -0.716         1.023          1.333          0              0              0
  58  StoveBurner     1.835          1.018          -1.840         0              90             0
  59  StoveBurner     2.177          1.018          -1.599         0              0              0
  60  CounterTop      2.812          0.992          0.675          0              0              0
  61  DiningTable     2.419          0.003          3.930          0              0              0
  62  Drawer          -0.643         0.828          0.616          0              0              0
  63  CounterTop      -0.813         1.062          2.188          0              0              0
  64  StoveBurner     2.115          1.018          -1.840         0              270            0
  65  Drawer          -0.643         0.831          1.953          0              0              0
  66  Drawer          -0.643         0.833          2.418          0              0              0
  67  Drawer          1.347          0.836          -1.539         0              0              0
  68  Drawer          2.693          0.833          -1.131         0              0              0
  69  Drawer          2.693          0.833          -0.699         0              0              0
  70  Drawer          2.693          0.833          -0.267         0              0              0
  71  Drawer          2.693          0.833          0.163          0              0              0
  72  Drawer          2.524          0.833          0.720          0              2.000          0
  73  Drawer          2.232          0.833          1.036          0              2.000          0
  74  Drawer          1.936          0.833          1.354          0              2.000          0
  75  Drawer          1.646          0.833          1.670          0              2.000          0
  76  Cabinet         1.504          2.475          -1.710         0              0              0
  77  Cabinet         -0.823         2.220          1.621          0              0              0
  78  Cabinet         -0.823         2.220          0.615          0              0              0
  79  Cabinet         1.136          0.388          -1.355         0              0              0
  80  Cabinet         -0.356         0.383          2.626          0              0              0
  81  Cabinet         2.745          2.220          -1.690         0              0              0
  82  Cabinet         1.882          0.383          1.017          0              0              0
  83  Cabinet         1.307          0.473          1.640          0              0              0
  84  Cabinet         1.892          0.383          1.006          0              0              0
  85  Cabinet         2.467          0.383          0.383          0              0              0
  86  Cabinet         2.466          0.383          -0.475         0              0              0
  87  Cabinet         2.466          0.473          0.371          0              0              0
  88  Cabinet         2.386          2.475          -1.710         0              0              0
  89  Cabinet         -0.356         0.383          1.712          0              0              0
  90  Cabinet         2.745          2.220          0.019          0              0              0
  91  Cabinet         -0.663         2.496          0.157          0              0              0
  92  Cabinet         -0.663         2.496          -0.868         0              0              0
  93  Cabinet         -0.356         0.383          0.269          0              0              0
  94  Cabinet         -0.823         2.220          1.603          0              0              0
  95  Cabinet         -0.662         2.234          0.586          0              0              0
  96  Cabinet         2.745          2.220          -0.843         0              0              0
  97  Cabinet         2.745          2.220          -0.827         0              0              0
  98  Cabinet         -0.823         2.220          2.608          0              0              0
  99  Cabinet         2.732          2.226          -1.709         0              0              0
 100  Cabinet         1.137          2.226          -1.709         0              0              0
 101  Cabinet         2.466          0.383          -0.491         0              0              0
 102  Cabinet         2.466          0.383          -1.339         0              0              0
 103  StoveBurner     1.761          1.018          -1.599         0              0              0
 104  Fridge          -0.908         0.0            -0.405         0              0              0
 105  HousePlant      2.517          1.016          1.822          0              0              0
 106  Microwave       1.939          1.745          -1.826         0              0              0
 107  StoveKnob       2.017          1.041          -1.514         0              180            180
 108  StoveKnob       1.934          1.041          -1.514         0              180            180
 109  StoveKnob       2.017          1.041          -1.589         0              180            180
 110  StoveKnob       1.934          1.041          -1.589         0              180            180
 111  Window          1.756          1.608          4.762          90             0              0
 112  HousePlant      2.171          1.004          2.091          0              0              0
 113  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 114  LightSwitch     -0.099         1.410          -2.066         0              0              0
 115  GarbageCan      -0.951         -0.029         2.826          0              0              0
 116  Toaster         -1.007         1.018          2.238          0              90             0
 117  SinkBasin       -0.714         0.805          1.348          0              90             0
 118  Chair           1.615          0.004          4.310          0              107.976        0
 119  Faucet          -1.120         1.013          1.334          0              90             0
 120  Chair           2.759          0.004          3.086          0              358.967        0
 121
 122  NorthWall
 123  EastWall
 124  SouthWall
 125  WestWall

Plan:
STEP 1: Turn around and go to the fridge | STEP 2: Take a tomato out of the fridge | STEP 3: Turn around and go to the counter then turn right and go to the stove | STEP 4: Put the tomato in the microwave and microwave it then take the tomato out of the microwave | STEP 5: Turn to the right, then turn right again and go to the far wall and turn left and go to the garbage can | STEP 6: Put the tomato in the garbage can | END