Task: Warm up a tomato slice to throw it away.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          2.25           0              270            0
   1  Pan             1.845          0.948          -0.355         0              0              0              43
   2  Potato          -1.553         0.888          -0.806         0              90             0              70
   3  Potato          0.294          0.956          1.220          0              0              0              79
   4  DishSponge      1.690          0.120          -1.397         0              270            0              56
   5  DishSponge      1.828          0.913          -1.563         0              0              0              62
   6  ButterKnife     0.294          0.921          0.991          0              0              0              79
   7  ButterKnife     -0.137         0.764          -2.026         0              0              0              74
   8  Spoon           -0.230         0.914          -1.725         0              0              0              62
   9  Spoon           0.294          0.927          0.991          0              0              0              79
  10  Fork            -0.356         0.765          -1.981         0              270            0              74
  11  Egg             1.915          0.140          0.044          0              0              0              63
  12  Egg             -1.072         0.967          -2.115         0              0              0              62
  13  Tomato          1.850          0.965          -1.918         0              0              0              62
  14  Tomato          -0.047         0.982          1.220          0              0              0              79
  15  Tomato          1.647          0.965          -1.212         0              0              0              62
  16  Bowl            1.773          0.549          2.431          0              0              0              82
  17  Bowl            0.180          0.927          1.448          0              0              0              79
  18  Lettuce         -1.572         1.585          -0.599         0              90             0              70
  19  Mug             0.180          0.921          0.534          0              0              0              79
  20  Apple           -1.533         1.575          -0.392         0              90             0              70
  21  Potato          1.850          0.942          -2.252         0              0              0              62
  22  Bowl            -1.495         0.856          -0.495         0              90             0              70
  23  SoapBottle      1.738          0.912          -1.563         0              0              0              62
  24  Fork            0.454          0.901          -1.886         0              0              0              62
  25  Ladle           0.408          0.975          0.762          0              0              0              79
  26  Bread           0.399          0.964          0.111          0              0              1.601          79
  27  Lettuce         -0.210         0.845          -2.026         0              0              0              74
  28  WineBottle      1.838          1.659          -1.240         0              270            0              53
  29  Spatula         -0.047         0.945          0.534          0              0              0              79
  30  Plate           0.483          0.922          1.078          0              0              0              79
  31  SaltShaker      -0.242         2.147          -2.120         0              0              0              47
  32  Pot             -0.117         0.921          1.5            0              0              0              79
  33  Cup             0.180          0.930          0.076          0              0              0              79
  34  PepperShaker    0.066          0.923          0.076          0              0              0              79
  35  Pan             1.567          0.948          -0.757         0              0              0              44
  36  ButterKnife     0.180          0.926          0.762          0              0              0              79
  37  Tomato          0.457          0.965          -2.085         0              0              0              62
  38  DishSponge      1.466          0.913          -1.797         0              0              0              62
  39  Egg             -1.252         1.059          -1.742         0              90             0              68
  40  Spoon           0.066          0.931          0.305          0              0              0              79
  41  Knife           -0.160         0.950          1.220          0              270            0              79
  42  Mug             1.557          0.908          -1.680         0              0              0              62
  43  StoveBurner     1.845          0.940          -0.355         0              0              0
  44  StoveBurner     1.567          0.940          -0.757         0              0              0
  45  Cabinet         -1.149         2.019          -1.979         0              90             0
  46  Cabinet         -1.149         2.265          -0.834         0              90             0
  47  Cabinet         -0.459         2.265          -2.0           0              0              0
  48  Cabinet         -1.100         2.019          -2.0           0              0              0
  49  Cabinet         1.719          2.019          -2.0           0              0              0
  50  Cabinet         1.179          2.019          -2.0           0              0              0
  51  Cabinet         0.199          2.019          -2.0           0              0              0
  52  Cabinet         1.75           2.019          -1.399         0              270            0
  53  Cabinet         1.75           2.019          -1.029         0              270            0
  54  Cabinet         1.379          0.469          -1.689         0              0              0
  55  Cabinet         -0.819         0.469          -1.689         0              0              0
  56  Cabinet         1.389          0.469          -1.059         0              270            0
  57  Cabinet         -0.839         0.469          -1.665         0              90             0
  58  StoveBurner     1.567          0.940          -0.355         0              0              0
  59  StoveBurner     1.845          0.940          -0.757         0              0              0
  60  Sink            -0.109         0.893          -2.009         0              0              0
  61  Drawer          -0.819         0.75           -1.690         0              0              0
  62  CounterTop      0.232          0.949          -2.002         0              0              0
  63  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  64  Vase            0.251          0.546          0.475          0              270            0
  65  Toaster         0.780          0.900          -2.080         0              0              0
  66  LightSwitch     0.108          1.315          2.75           0              180            0
  67  Vase            0.400          0.925          0.218          0              180            0
  68  Microwave       -1.233         0.900          -1.680         0              90             0
  69  Vase            1.465          1.662          -2.200         0              0              0
  70  Fridge          -1.495         0.0            -0.703         0              0              0
  71  Window          2.114          1.495          1.072          90             270            0
  72  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  73  Vase            0.333          0.546          1.272          0              270            0
  74  SinkBasin       -0.148         0.753          -2.026         0              0              0
  75  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  79  DiningTable     0.170          0.005          0.678          0              270            0
  80  Shelf           0.170          0.155          0.678          0              270            0
  81  Shelf           1.605          0.172          2.480          0              0              0
  82  Shelf           1.605          0.552          2.480          0              0              0
  83  Shelf           1.604          0.880          2.479          0              0              0
  84  ShelvingUnit    1.605          0.006          2.480          0              0              0
  85  Faucet          -0.143         1.028          -2.223         0              270            0
  86  Stool           -0.553         0.000          0.871          1.233          280.376        0
  87  Shelf           0.170          0.528          0.678          0              270            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn left and go towards the sink.  At the table go left then right to get to the sink. | STEP 2: Go in front of the sink. | STEP 3: Turn left and go to the toaster. | STEP 4: Turn and face the toaster on the counter. | STEP 5: Turn right.  Open the cabinet that is to the right of the stove under the counter. | STEP 6: Shut the door to the cabinet. | STEP 7: Turn to the right.  Face the toaster that is on the counter. | STEP 8: Pick up a slice of tomato that is on the counter. | STEP 9: Turn to the right.  Move to the microwave. | STEP 10: Open the microwave.  Put the tomato slice in the microwave and shut the door.  Turn on the microwave.  Open the door when it is done and take the tomato slice out. | STEP 11: Turn to the right and then turn to the right again. Move towards the stove.  At the stove turn left and then right.   | STEP 12: Put the tomato slice in the green trash can that is on the left of the stove. | END