Task: To put a heated slice of 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           0.75           0.900          3.75           0              90             0
   1  Potato          2.194          1.068          1.107          0              136.999        0              49
   2  Potato          1.953          1.068          1.998          0              136.999        0              49
   3  Ladle           -0.987         2.329          -0.676         0              90             0              81
   4  DishSponge      3.043          1.026          0.068          0              0              0              49
   5  WineBottle      2.800          0.765          4.192          0              270            0              50
   6  WineBottle      -0.854         1.765          0.398          0              0              0              84
   7  Glassbottle     -0.906         0.786          -0.516         0              90             0              93
   8  Pot             1.836          1.027          -1.84          0              90             0              47
   9  Spoon           2.156          0.802          1.433          0              47.0           0              63
  10  Egg             -0.920         1.071          2.556          0              0              0              52
  11  Cup             2.801          0.763          3.895          0              270            0              50
  12  Plate           1.925          0.764          3.895          0              270            0              50
  13  Tomato          1.230          1.080          -1.560         0              90             0              49
  14  Bowl            -0.782         0.814          1.492          0              90             0              106
  15  Bowl            2.662          0.762          3.455          0              329.999        0              50
  16  PepperShaker    2.868          0.760          4.072          0              225            0              50
  17  Lettuce         -0.987         0.844          -0.184         0              90             0              93
  18  Lettuce         -1.013         1.500          -0.627         0              90             0              93
  19  Mug             -0.807         2.285          0.095          0              270            0              67
  20  Apple           2.046          0.814          4.372          0              329.999        0              50
  21  Pan             2.042          1.017          1.779          0              0              0              49
  22  Glassbottle     -0.944         1.781          2.427          0              0              0              87
  23  Knife           -0.782         0.841          1.103          0              180            0              106
  24  SoapBottle      -0.418         1.026          0.600          0              0              0              52
  25  Egg             -1.028         0.830          -0.073         0              90             0              93
  26  Fork            2.762          0.803          -1.086         0              0              0              49
  27  Potato          -0.577         0.858          1.259          0              90             0              106
  28  Ladle           2.275          0.803          4.118          0              270            0              50
  29  Tomato          2.376          0.818          3.445          0              0              0              50
  30  Pot             2.116          1.027          -1.84          0              270            0              53
  31  WineBottle      2.599          0.765          4.145          0              0              0              50
  32  Plate           -1.023         1.781          1.917          0              0              0              66
  33  Spatula         1.836          0.815          1.785          0              47.0           0              64
  34  PaperTowelRoll  2.945          0.868          4.254          0              225            0              50
  35  Lettuce         2.503          0.822          3.917          0              225            0              50
  36  Apple           -0.831         1.492          -0.738         0              90             0              93
  37  SaltShaker      2.100          0.760          3.969          0              270            0              50
  38  PepperShaker    2.959          1.023          -1.151         0              0              0              49
  39  ButterKnife     1.925          0.764          4.118          0              270            0              50
  40  Bread           2.741          1.085          0.059          0              0              0              49
  41  Cup             2.875          1.025          -1.762         0              0              0              49
  42  DishSponge      2.489          1.780          -1.950         0              0              0              88
  43  Bowl            2.634          0.762          3.651          0              329.999        0              50
  44  Spoon           1.658          0.801          1.682          0              317.0          0              64
  45  Mug             -0.803         1.070          0.646          0              90             0              102
  46  Sink            -0.716         1.023          1.333          0              0              0
  47  StoveBurner     1.835          1.018          -1.840         0              90             0
  48  StoveBurner     2.177          1.018          -1.599         0              0              0
  49  CounterTop      2.812          0.992          0.675          0              0              0
  50  DiningTable     2.419          0.003          3.930          0              0              0
  51  Drawer          -0.643         0.828          0.616          0              0              0
  52  CounterTop      -0.813         1.062          2.188          0              0              0
  53  StoveBurner     2.115          1.018          -1.840         0              270            0
  54  Drawer          -0.643         0.831          1.953          0              0              0
  55  Drawer          -0.643         0.833          2.418          0              0              0
  56  Drawer          1.347          0.836          -1.539         0              0              0
  57  Drawer          2.693          0.833          -1.131         0              0              0
  58  Drawer          2.693          0.833          -0.699         0              0              0
  59  Drawer          2.693          0.833          -0.267         0              0              0
  60  Drawer          2.693          0.833          0.163          0              0              0
  61  Drawer          2.524          0.833          0.720          0              2.000          0
  62  Drawer          2.232          0.833          1.036          0              2.000          0
  63  Drawer          1.936          0.833          1.354          0              2.000          0
  64  Drawer          1.646          0.833          1.670          0              2.000          0
  65  Cabinet         1.504          2.475          -1.710         0              0              0
  66  Cabinet         -0.823         2.220          1.621          0              0              0
  67  Cabinet         -0.823         2.220          0.615          0              0              0
  68  Cabinet         1.136          0.388          -1.355         0              0              0
  69  Cabinet         -0.356         0.383          2.626          0              0              0
  70  Cabinet         2.745          2.220          -1.690         0              0              0
  71  Cabinet         1.882          0.383          1.017          0              0              0
  72  Cabinet         1.307          0.473          1.640          0              0              0
  73  Cabinet         1.892          0.383          1.006          0              0              0
  74  Cabinet         2.467          0.383          0.383          0              0              0
  75  Cabinet         2.466          0.383          -0.475         0              0              0
  76  Cabinet         2.466          0.473          0.371          0              0              0
  77  Cabinet         2.386          2.475          -1.710         0              0              0
  78  Cabinet         -0.356         0.383          1.712          0              0              0
  79  Cabinet         2.745          2.220          0.019          0              0              0
  80  Cabinet         -0.663         2.496          0.157          0              0              0
  81  Cabinet         -0.663         2.496          -0.868         0              0              0
  82  Cabinet         -0.356         0.383          0.269          0              0              0
  83  Cabinet         -0.823         2.220          1.603          0              0              0
  84  Cabinet         -0.662         2.234          0.586          0              0              0
  85  Cabinet         2.745          2.220          -0.843         0              0              0
  86  Cabinet         2.745          2.220          -0.827         0              0              0
  87  Cabinet         -0.823         2.220          2.608          0              0              0
  88  Cabinet         2.732          2.226          -1.709         0              0              0
  89  Cabinet         1.137          2.226          -1.709         0              0              0
  90  Cabinet         2.466          0.383          -0.491         0              0              0
  91  Cabinet         2.466          0.383          -1.339         0              0              0
  92  StoveBurner     1.761          1.018          -1.599         0              0              0
  93  Fridge          -0.908         0.0            -0.405         0              0              0
  94  HousePlant      2.517          1.016          1.822          0              0              0
  95  Microwave       1.939          1.745          -1.826         0              0              0
  96  StoveKnob       2.017          1.041          -1.514         0              180            180
  97  StoveKnob       1.934          1.041          -1.514         0              180            180
  98  StoveKnob       2.017          1.041          -1.589         0              180            180
  99  StoveKnob       1.934          1.041          -1.589         0              180            180
 100  Window          1.756          1.608          4.762          90             0              0
 101  HousePlant      2.171          1.004          2.091          0              0              0
 102  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 103  LightSwitch     -0.099         1.410          -2.066         0              0              0
 104  GarbageCan      -0.951         -0.029         2.826          0              0              0
 105  Toaster         -1.007         1.018          2.238          0              90             0
 106  SinkBasin       -0.714         0.805          1.348          0              90             0
 107  Chair           1.615          0.004          4.310          0              107.976        0
 108  Faucet          -1.120         1.013          1.334          0              90             0
 109  Chair           2.759          0.004          3.086          0              358.967        0
 110
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Step forward to face the kitchen table. | STEP 2: Pick up the knife on the kitchen table. | STEP 3: Turn right and walk across the room to face the tomato on the end of the counter. | STEP 4: Cut the tomato on the end of the counter into slices. | STEP 5: Turn left and walk across the room, then turn left to face the trash can. | STEP 6: Place the knife in the trash can. | STEP 7: Walk back across the room to face the tomato on the end of the counter. | STEP 8: Pick up the tomato slice on the end of the counter. | STEP 9: Walk around the counter and turn right to face the microwave. | STEP 10: Heat the tomato slice in the microwave and then remove it. | STEP 11: Turn around and walk across the room and turn left to face the trash can. | STEP 12: Place the tomato slice in the trash can. | END