Task: place microwaved tomato slice in green can

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          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, go forward to sink | STEP 2: pick up knife from sink on the left of lettuce | STEP 3: turn to the left | STEP 4: go to counter with toaster to the left of the sink, slice tomato | STEP 5: turn left, go to cabinet to the right of stove | STEP 6: open cabinet, place knife in front left corner of cabinet, close cabinet | STEP 7: go to right to counter with toaster | STEP 8: pick up tomato slice next to toaster | STEP 9: turn right, go to microwave | STEP 10: place tomato slice in microwave, turn on microwave, remove tomato slice from microwave | STEP 11: turn around, go to green can to left of stove | STEP 12: place tomato slice in green can | END