Task: cook a tomato then throw it away 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           0.5            0.900          2.75           0              270            0
   1  Pan             1.986          0.911          1.107          0              90             0              70
   2  Pan             0.107          0.925          0.738          0              270            0              78
   3  Ladle           1.658          0.807          1.365          0              270            0              76
   4  Kettle          1.765          0.938          0.601          0              180            0              52
   5  ButterKnife     -1.639         0.911          -0.914         0              0              0              70
   6  Fork            0.321          0.926          0.506          0              0              0              78
   7  Fork            -0.106         0.926          1.202          0              0              0              78
   8  Spoon           -1.050         0.912          -1.318         0              0              0              61
   9  Spoon           1.760          0.696          0.737          0              0              0              71
  10  Spatula         1.815          0.131          -0.157         0              90             0              53
  11  Pot             1.975          0.938          0.384          0              180            0              56
  12  Egg             -1.721         0.620          0.107          0              90             0              93
  13  Egg             1.802          0.968          -1.513         0              0              0              70
  14  Knife           -1.814         0.933          -1.113         0              0              0              70
  15  Knife           0.214          0.947          0.273          0              0              0              78
  16  SoapBottle      -0.193         0.118          -1.472         0              0              0              49
  17  Tomato          -1.668         0.966          -1.318         0              0              0              70
  18  Tomato          -0.106         0.980          0.506          0              0              0              78
  19  SaltShaker      -1.237         1.675          -1.652         0              0              0              72
  20  SaltShaker      -1.237         1.675          -1.539         0              0              0              72
  21  PepperShaker    1.762          0.221          1.153          0              0              0              79
  22  Lettuce         -0.106         1.002          -0.190         0              0              0              78
  23  Mug             -0.088         0.755          -1.380         0              0              0              94
  24  Mug             1.355          0.955          -1.362         0              0              0              92
  25  SoapBottle      0.138          0.116          -1.282         0              0              0              59
  26  Cup             0.214          0.923          1.202          0              0              0              78
  27  Pot             1.975          0.938          0.819          0              180            0              80
  28  Fork            1.764          0.226          0.599          0              0              0              64
  29  Ladle           1.713          0.391          0.667          0              0              0              64
  30  Kettle          -1.841         1.663          -1.056         0              90             0              57
  31  Egg             0.083          0.817          -1.324         0              0              0              94
  32  Plate           1.195          0.107          -1.352         0              0              0              63
  33  Pan             -1.286         0.9            -1.348         0              79.769         0              70
  34  Lettuce         -1.803         1.545          0.013          0              90             0              93
  35  Spatula         0.256          0.775          -1.435         0              0              0              94
  36  Apple           0.214          0.978          -0.190         0              0              0              78
  37  Knife           -0.106         0.947          0.738          0              90             0              78
  38  SaltShaker      -0.320         0.921          0.273          0              0              0              78
  39  PepperShaker    0.250          0.109          -1.345         0              0              0              59
  40  CellPhone       1.932          0.909          -0.131         0              0              0              70
  41  ButterKnife     0.000          0.925          0.506          0              0              0              78
  42  Bread           1.726          0.992          1.408          0              0              0              70
  43  Tomato          -0.213         0.980          0.738          0              0              0              78
  44  Potato          -0.320         0.949          0.041          0              0              0              78
  45  DishSponge      -0.844         0.911          -1.513         0              0              0              70
  46  Spoon           -0.751         0.672          -1.301         0              0              0              61
  47  Mug             -1.789         1.024          0.107          0              90             0              93
  48  Bowl            -1.483         1.678          -1.577         0              0              0              72
  49  Cabinet         -0.495         0.474          -1.149         0              0              0
  50  Window          -0.010         1.582          -1.821         0              0              0
  51  Drawer          0.805          0.475          -1.159         0              0              0
  52  StoveBurner     1.764          0.902          0.601          0              270            0
  53  Drawer          1.5            0.196          -0.019         0              0              0
  54  Drawer          1.5            0.629          -0.018         0              0              0
  55  Drawer          1.5            0.602          -0.019         0              270            0
  56  StoveBurner     1.975          0.902          0.384          0              270            0
  57  Cabinet         -1.703         2.022          -1.453         0              90             0
  58  Cabinet         1.789          2.019          -0.819         0              270            0
  59  Cabinet         0.494          0.474          -1.149         0              0              0
  60  Cabinet         0.409          0.475          0.444          0              0              0
  61  Drawer          -0.696         0.475          -1.159         0              0              0
  62  Drawer          1.5            0.140          0.599          0              270            0
  63  Cabinet         1.389          0.474          -1.149         0              0              0
  64  Drawer          1.5            0.305          0.600          0              0              0
  65  StoveBurner     1.975          0.902          0.601          0              270            0
  66  Drawer          1.5            0.429          -0.019         0              0              0
  67  StoveBurner     1.764          0.902          0.819          0              270            0
  68  Drawer          1.5            0.519          1.220          0              0              0
  69  Cabinet         1.705          2.019          -1.449         0              0              0
  70  CounterTop      0.002          0.947          -1.513         0              0              0
  71  Drawer          1.5            0.629          0.605          0              0              0
  72  Cabinet         -0.627         2.019          -1.449         0              0              0
  73  StoveBurner     1.764          0.902          0.384          0              270            0
  74  Drawer          1.5            0.538          0.600          0              0              0
  75  Sink            0.0            0.893          -1.434         0              0              0
  76  Drawer          1.5            0.782          1.220          0              270            0
  77  Window          2.217          1.565          -0.384         0              0              0
  78  CounterTop      -0.014         0.961          0.505          0              0              0
  79  Drawer          1.5            0.200          1.220          0              0              0
  80  StoveBurner     1.975          0.902          0.819          0              270            0
  81  Window          -3.240         1.616          2.693          0              270            0
  82  Cabinet         -1.389         0.474          -1.149         0              0              0
  83  LightSwitch     -0.153         1.291          3.700          0              180            0
  84  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  85  StoveKnob       1.602          0.917          0.570          0              270            180
  86  StoveKnob       1.602          0.917          0.625          0              270            180
  87  StoveKnob       1.602          0.917          0.739          0              270            180
  88  StoveKnob       1.602          0.917          0.680          0              270            180
  89  StoveKnob       1.602          0.917          0.462          0              270            180
  90  StoveKnob       1.602          0.917          0.517          0              270            180
  91  Microwave       1.932          0.899          -0.766         0              270            0
  92  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  93  Fridge          -1.764         0.0            0.014          0              90             0
  94  SinkBasin       -0.014         0.736          -1.435         0              0              0
  95  Toaster         1.977          0.900          -0.336         0              270            0
  96  Faucet          -0.020         1.137          -1.605         0              270            0
  97  Chair           -9.354         0.000          1.242          0              180            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: look down and walk straight towards the window and turn left and walk straight to the counter and turn left | STEP 2: pick up the tomato in front of the knife on the table | STEP 3: turn right and walk straight towards the counter and then turn left and walk straight to the microwave | STEP 4: open the microwave and put the tomato inside and close it, set the timer and then open the microwave and remove the tomato and close the door | STEP 5: turn around and walk straight towards the fridge and then turn right and walk straight towards the edge of the counter and turn left and look down | STEP 6: put the tomato into the trash can on the floor | END