Task: Throwing away a cooked tomato

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          1.25           0              270            0
   1  Pan             1.690          0.120          -1.266         0              0              0              62
   2  Potato          0.457          0.942          -2.085         0              0              0              68
   3  ButterKnife     -0.137         0.764          -2.026         0              0              0              80
   4  ButterKnife     -0.720         0.913          -2.134         0              0              0              68
   5  WineBottle      -0.160         0.927          0.305          0              0              0              85
   6  WineBottle      0.180          0.927          0.762          0              0              0              85
   7  Spatula         0.066          0.945          1.220          0              0              0              85
   8  Spoon           1.738          0.914          -1.095         0              0              0              68
   9  Spoon           0.921          0.914          -1.834         0              90             0              68
  10  Fork            0.066          0.931          0.991          0              0              0              85
  11  Fork            1.618          0.914          -2.002         0              180            0              68
  12  Egg             1.828          0.967          -1.680         0              0              0              68
  13  Egg             0.408          0.980          0.762          0              0              0              85
  14  Cup             -0.984         0.126          -1.463         0              90             0              63
  15  Plate           1.359          0.556          2.482          0              0              0              88
  16  Plate           0.408          0.930          0.534          0              0              0              85
  17  Tomato          -1.572         1.556          -0.910         0              90             0              76
  18  Tomato          -1.036         0.965          -2.260         0              0              0              68
  19  SoapBottle      0.294          0.929          1.220          0              0              0              85
  20  SoapBottle      1.466          0.912          -1.446         0              0              0              68
  21  SaltShaker      1.947          1.653          -1.673         0              270            0              58
  22  SaltShaker      0.002          0.909          -1.737         0              0              0              68
  23  PepperShaker    0.066          0.926          1.220          0              0              0              85
  24  Mug             1.465          1.654          -2.124         0              0              0              55
  25  Apple           -1.610         1.575          -0.392         0              90             0              76
  26  Apple           -0.160         1.001          0.534          0              0              0              85
  27  Potato          0.294          0.959          0.991          0              0              0              85
  28  Bowl            1.256          0.115          -1.914         0              0              0              60
  29  SoapBottle      1.670          0.551          2.379          0              0              0              88
  30  Fork            0.180          0.931          0.305          0              0              0              85
  31  Ladle           -0.657         0.156          -1.873         0              0              0              61
  32  Bread           0.399          0.964          0.110          0              0              1.601          85
  33  Lettuce         -1.553         1.264          -0.910         0              90             0              76
  34  WineBottle      0.066          0.927          0.762          0              0              0              85
  35  Spatula         -0.047         0.945          0.534          0              90             0              85
  36  Plate           1.913          1.661          -1.199         0              270            0              59
  37  SaltShaker      1.259          0.877          2.429          0              0              0              89
  38  Pot             1.845          0.948          -0.355         0              0              0              49
  39  Cup             -1.380         1.183          -0.599         0              90             0              76
  40  PepperShaker    1.828          0.909          -1.095         0              0              0              68
  41  Pan             1.567          0.948          -0.757         0              0              0              50
  42  ButterKnife     1.738          0.913          -1.212         0              0              0              68
  43  Tomato          -0.210         0.816          -1.936         0              0              0              80
  44  DishSponge      -0.047         0.930          0.076          0              0              0              85
  45  Egg             -0.064         0.818          -2.071         0              0              0              80
  46  Spoon           1.828          0.914          -1.446         0              0              0              68
  47  Knife           0.408          0.950          0.991          0              0              0              85
  48  Mug             -1.380         0.854          -1.013         0              90             0              76
  49  StoveBurner     1.845          0.940          -0.355         0              0              0
  50  StoveBurner     1.567          0.940          -0.757         0              0              0
  51  Cabinet         -1.149         2.019          -1.979         0              90             0
  52  Cabinet         -1.149         2.265          -0.834         0              90             0
  53  Cabinet         -0.459         2.265          -2.0           0              0              0
  54  Cabinet         -1.100         2.019          -2.0           0              0              0
  55  Cabinet         1.719          2.019          -2.0           0              0              0
  56  Cabinet         1.179          2.019          -2.0           0              0              0
  57  Cabinet         0.199          2.019          -2.0           0              0              0
  58  Cabinet         1.75           2.019          -1.399         0              270            0
  59  Cabinet         1.75           2.019          -1.029         0              270            0
  60  Cabinet         1.379          0.469          -1.689         0              0              0
  61  Cabinet         -0.819         0.469          -1.689         0              0              0
  62  Cabinet         1.389          0.469          -1.059         0              270            0
  63  Cabinet         -0.839         0.469          -1.665         0              90             0
  64  StoveBurner     1.567          0.940          -0.355         0              0              0
  65  StoveBurner     1.845          0.940          -0.757         0              0              0
  66  Sink            -0.109         0.893          -2.009         0              0              0
  67  Drawer          -0.819         0.75           -1.690         0              0              0
  68  CounterTop      0.232          0.949          -2.002         0              0              0
  69  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  70  Vase            0.251          0.546          0.475          0              270            0
  71  Toaster         0.780          0.900          -2.080         0              0              0
  72  LightSwitch     0.108          1.315          2.75           0              180            0
  73  Vase            0.400          0.925          0.218          0              180            0
  74  Microwave       -1.233         0.900          -1.680         0              90             0
  75  Vase            1.465          1.662          -2.200         0              0              0
  76  Fridge          -1.495         0.0            -0.703         0              0              0
  77  Window          2.114          1.495          1.072          90             270            0
  78  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  79  Vase            0.333          0.546          1.272          0              270            0
  80  SinkBasin       -0.148         0.753          -2.026         0              0              0
  81  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  82  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  83  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  84  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  85  DiningTable     0.170          0.005          0.678          0              270            0
  86  Shelf           0.170          0.155          0.678          0              270            0
  87  Shelf           1.605          0.172          2.480          0              0              0
  88  Shelf           1.605          0.552          2.480          0              0              0
  89  Shelf           1.604          0.880          2.479          0              0              0
  90  ShelvingUnit    1.605          0.006          2.480          0              0              0
  91  Faucet          -0.143         1.028          -2.223         0              270            0
  92  Stool           -0.553         0.000          0.871          1.233          280.376        0
  93  Shelf           0.170          0.528          0.678          0              270            0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn left and head to the sink | STEP 2: Pick up the knife from the sink | STEP 3: Slice the tomato in the sink with your knife | STEP 4: Put the knife back in the sink | STEP 5: Pick up the sliced tomato in the sink | STEP 6: Turn to your right and face the microwave | STEP 7: Place the tomato inside the microwave and cook it. Take it out when it's done | STEP 8: Turn around and face the trash bin to the left of the oven | STEP 9: Put the tomato inside the trash bin | END