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           -1.25          0.900          -1.25          0              90             0
   1  Pencil          -0.436         0.916          -2.764         0              0              0              49
   2  Pencil          -0.478         0.747          -3.238         0              90             0              60
   3  Potato          -0.295         1.130          -0.455         0              270            0              66
   4  DishSponge      -0.457         0.915          -3.768         0              0              0              49
   5  DishSponge      -2.780         0.923          -1.193         0              0              0              74
   6  WineBottle      -0.446         1.531          -3.624         0              45             0              57
   7  Pot             -0.392         1.390          -0.560         0              270            0              66
   8  Fork            -0.671         0.916          -3.485         0              0              0              49
   9  Plate           -2.324         0.925          -1.423         0              0              0              74
  10  Plate           -0.295         1.101          -0.874         0              270            0              66
  11  Egg             -0.293         0.948          -3.368         0              0              0              49
  12  Egg             -2.552         0.956          -1.193         0              0              0              74
  13  SoapBottle      -1.943         0.025          -3.799         0              0              0              65
  14  SoapBottle      -0.508         0.914          -3.368         0              0              0              49
  15  Bowl            -1.153         1.968          -3.851         0              0              0              50
  16  SaltShaker      -0.230         1.966          -1.828         0              0              0              51
  17  SaltShaker      -0.363         1.527          -3.706         0              45             0              57
  18  PepperShaker    -0.690         0.743          -3.497         0              0              0              48
  19  Apple           -0.815         0.989          -3.555         0              0              0              49
  20  Lettuce         -2.562         1.002          -1.677         36.385         0              0              74
  21  Glassbottle     -0.302         0.797          -1.860         0              270            0              67
  22  Egg             -0.392         1.131          -0.560         0              270            0              66
  23  Pen             -0.026         0.918          -2.201         0              90             0              49
  24  Fork            -2.552         0.924          -1.423         0              0              0              74
  25  SoapBottle      -0.457         0.914          -3.555         0              0              0              49
  26  Pencil          -0.053         0.916          -1.800         0              270            0              49
  27  WineBottle      -2.666         0.924          -2.115         0              0              0              74
  28  Spatula         -2.324         0.938          -1.884         0              0              0              74
  29  Bread           -0.308         1.743          -0.979         0              270            0              66
  30  Tomato          -2.552         0.987          -1.884         0              0              0              74
  31  Pan             -2.174         0.913          -1.099         0              0              0              74
  32  Cup             -0.295         1.389          -0.874         0              270            0              66
  33  Pot             -1.129         0.935          -3.498         0              0              0              47
  34  SaltShaker      -0.256         1.966          -1.718         0              0              0              51
  35  Potato          -1.362         1.661          -3.804         0              0              0              62
  36  PepperShaker    -0.778         0.742          -3.615         0              0              0              48
  37  ButterKnife     -2.438         0.923          -2.345         0              90             0              74
  38  DishSponge      -2.324         0.923          -1.884         0              0              0              74
  39  Spoon           -2.666         0.924          -1.654         0              0              0              74
  40  Plate           -0.422         0.083          -2.201         0              0              0              54
  41  Knife           -2.269         0.920          -2.143         90             315            0              74
  42  Mug             -0.350         0.792          -2.008         0              90             0              67
  43  Bowl            -0.268         1.689          -0.665         0              270            0              66
  44  Cabinet         -0.582         0.388          -1.804         0              0              0
  45  StoveBurner     -1.515         0.928          -3.752         0              90             0
  46  StoveBurner     -1.515         0.928          -3.497         0              0              0
  47  StoveBurner     -1.129         0.928          -3.498         0              0              0
  48  Drawer          -0.749         0.779          -3.551         0              0              0
  49  CounterTop      -0.303         0.951          -2.793         0              0              0
  50  Cabinet         -0.883         2.140          -3.687         0              0              0
  51  Cabinet         -0.312         2.140          -1.543         0              0              0
  52  Sink            -0.349         0.907          -2.014         0              0              0
  53  Cabinet         -0.877         0.388          -3.422         0              0              0
  54  Cabinet         -0.582         0.388          -2.197         0              0              0
  55  Cabinet         -0.584         0.388          -3.396         0              0              0
  56  Cabinet         -0.312         2.140          -2.481         0              0              0
  57  Cabinet         -0.330         1.921          -3.390         0              0              0
  58  Cabinet         -1.764         2.140          -3.687         0              0              0
  59  StoveBurner     -1.129         0.928          -3.752         0              90             0
  60  Drawer          -0.454         0.779          -3.268         0              0              0
  61  Cabinet         -0.302         1.916          -2.501         0              0              0
  62  Microwave       -1.317         1.517          -3.801         0              1.440          0
  63  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  64  LightSwitch     -4.323         1.319          0.0            0              180            0
  65  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  66  Fridge          -0.330         0.0            -0.769         0              270            0
  67  SinkBasin       -0.350         0.786          -2.018         0              270            0
  68  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  69  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  70  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  71  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  72  Toaster         -0.181         0.903          -2.764         0              270            0
  73  Window          -2.503         1.782          -4.185         90             180            0
  74  DiningTable     -2.432         0.000          -1.694         0              270            0
  75  Shelf           -2.432         0.150          -1.694         0              270            0
  76  Blinds          -2.536         2.699          -3.959         0              0              0
  77  Faucet          -0.079         0.904          -2.034         270            180            0
  78  Chair           -3.264         0.002          -2.094         0              53.280         0
  79  Chair           -3.240         0.002          -1.253         0              117.257        0
  80  Shelf           -2.432         0.523          -1.694         0              270            0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn right and walk around the table to face the end of the table. | STEP 2: Pick up the knife on the table. | STEP 3: Face the tomato on the table. | STEP 4: Cut the tomato on the table into slices. | STEP 5: Turn around to face the microwave. | STEP 6: Place the knife in the microwave. | STEP 7: Turn around to face the tomato on the table. | STEP 8: Pick up a tomato slice on the table. | STEP 9: TUrn left and walk forward to face the microwave. | STEP 10: Heat the tomato in the microwave and remove it. | STEP 11: Take a step to the right to face the trash can on the floor. | STEP 12: Place the tomato slice in the trash can on the floor. | END