Task: heat a chilled slice of tomato followed by putting 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           -1.5           0.900          1.0            0              180            0
   1  Potato          -2.023         0.736          0.295          0              0              0              74
   2  DishSponge      -2.631         0.692          1.474          0              0              0              52
   3  DishSponge      -2.840         0.823          0.129          0              0              0              47
   4  Fork            -0.817         0.824          0.203          0              90             0              47
   5  Fork            -0.428         0.695          1.215          0              90             0              43
   6  Spatula         -2.375         0.838          0.426          0              0              0              47
   7  Egg             -1.709         0.847          0.046          0              0              0              47
   8  Cup             -2.781         1.445          2.045          0              90             0              65
   9  Cup             -2.000         0.125          0.479          0              0              0              59
  10  Knife           -1.542         0.849          0.498          0              0              0              47
  11  Tomato          -2.782         0.874          2.485          0              90             0              65
  12  Tomato          -2.504         0.873          0.789          0              0              0              47
  13  SoapBottle      -2.648         0.119          1.431          0              0              0              58
  14  SaltShaker      -2.834         1.430          0.674          0              0              0              56
  15  SaltShaker      -1.151         0.818          0.129          0              0              0              47
  16  Mug             -0.646         0.888          0.367          0              0              0              75
  17  Mug             -1.637         0.120          0.323          0              0              0              60
  18  Apple           -2.671         0.897          2.133          0              90             0              65
  19  Apple           -2.726         1.518          2.309          0              90             0              65
  20  Fork            -2.496         0.692          1.474          0              90             0              52
  21  Ladle           -0.371         0.738          0.879          0              45             0              49
  22  Pan             -0.244         0.829          1.684          0              0              0              46
  23  SoapBottle      -2.172         0.123          0.401          0              0              0              59
  24  Pot             -0.531         0.822          2.096          0              0              0              44
  25  Tomato          -2.669         1.181          2.373          0              0              0              65
  26  Potato          -1.207         0.862          0.046          0              0              0              47
  27  SaltShaker      -0.817         0.818          0.500          0              0              0              47
  28  Plate           -1.407         0.130          0.440          0              0              0              60
  29  Spatula         -0.092         0.838          1.326          0              0              0              47
  30  Knife           -2.662         0.819          0.557          90             300.034        0              47
  31  Egg             -2.837         1.469          1.957          0              90             0              65
  32  Cup             -2.671         1.144          2.221          0              90             0              65
  33  ButterKnife     -1.374         0.823          0.518          0              0              0              47
  34  Lettuce         -1.836         0.741          0.238          0              55.910         0              74
  35  PepperShaker    -2.957         0.818          0.426          0              0              0              47
  36  DishSponge      -2.609         0.121          1.589          0              0              0              58
  37  Bread           -0.979         0.855          0.249          0              29.999         0              47
  38  Spoon           -0.943         0.711          0.378          0              90             0              50
  39  Mug             -0.147         0.818          0.500          0              0              0              47
  40  Bowl            -2.540         1.845          1.978          0              0              0              41
  41  Cabinet         -2.377         2.015          1.720          0              0              0
  42  StoveBurner     -0.244         0.820          2.075          0              180            0
  43  Drawer          -0.402         0.703          1.252          0              0              0
  44  StoveBurner     -0.518         0.820          2.075          0              180            0
  45  Sink            -1.838         0.726          0.343          0              180            0
  46  StoveBurner     -0.244         0.820          1.684          0              0              0
  47  CounterTop      -1.557         0.859          0.277          0              0              0
  48  StoveBurner     -0.518         0.820          1.684          0              0              0
  49  Drawer          -0.404         0.704          0.912          0              0              0
  50  Drawer          -0.861         0.709          0.420          0              0              0
  51  Drawer          -1.133         0.706          0.418          0              0              0
  52  Drawer          -2.589         0.703          1.511          0              0              0
  53  Cabinet         -2.772         1.803          0.508          0              0              0
  54  Cabinet         -2.460         1.803          0.231          0              0              0
  55  Cabinet         -2.781         1.798          0.825          0              0              0
  56  Cabinet         -2.781         1.798          0.815          0              0              0
  57  Cabinet         -2.377         2.009          2.581          0              0              0
  58  Cabinet         -2.442         0.385          1.672          0              0              0
  59  Cabinet         -2.238         0.385          0.564          0              0              0
  60  Cabinet         -1.286         0.385          0.564          0              0              0
  61  Cabinet         -1.262         0.385          0.565          0              0              0
  62  Cabinet         -0.734         0.385          0.565          0              0              0
  63  Cabinet         -0.549         0.385          0.751          0              0              0
  64  Cabinet         -0.549         0.385          1.412          0              0              0
  65  Fridge          -2.782         0.0            2.221          0              0              0
  66  Microwave       -2.794         0.812          1.348          0              90             0
  67  GarbageCan      -0.329         2.205          2.606          0              0              0
  68  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  69  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  70  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  71  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  72  Window          -1.720         1.342          -0.208         90             0              0
  73  Toaster         -0.171         0.812          0.735          0              270            0
  74  SinkBasin       -1.745         0.687          0.295          0              0              0
  75  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  76  LightSwitch     -0.615         1.378          3.0            0              180            0
  77  Faucet          -1.686         0.954          0.176          0              236.223        0
  78  Stool           -1.008         0.008          1.955          0              18.279         0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: turn to the right and move to the counter with the dishwasher below | STEP 2: pick up the sharp knife with the yellow handle | STEP 3: turn to the right and move to the fridge on the left, turn to face the fridge | STEP 4: open the door of the fridge, cut the tomato in the back right corner of the second shelf with the knife and close the door | STEP 5: stay in front of the refrigerator for a few seconds | STEP 6: open the door to the fridge again and put the knife on the second shelf and close the door | STEP 7: stay in front of the refrigerator for a few seconds | STEP 8: open the door and pick up one slice of the tomato that was sliced and close the door | STEP 9: move to the left of the fridge to face the microwave | STEP 10: open the microwave door, put the slice of tomato in to it, close the door, cook for 3 seconds, open the door, remove the tomato slice and close the door. | STEP 11: turn to the right, moving passed the fridge and at the wall turn right and move to the trash can ahead | STEP 12: put the slice of tomato in to the trash can | END