Task: Carry a heated tomato to the trash

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          -0.25          0              0              0
   1  Potato          -0.851         0.858          1.181          0              90             0              110
   2  Potato          1.469          1.068          -1.987         0              270            0              53
   3  Ladle           -0.714         0.855          1.259          0              270            0              110
   4  Ladle           1.396          0.829          -1.546         0              0              0              60
   5  DishSponge      -1.130         1.027          1.427          0              0              0              56
   6  DishSponge      -0.908         1.780          0.737          0              0              0              71
   7  ButterKnife     1.409          1.026          -1.987         0              90             0              53
   8  ButterKnife     -0.732         0.801          2.418          0              0              0              59
   9  WineBottle      2.607          0.765          3.848          0              329.999        0              54
  10  WineBottle      2.175          0.765          4.447          0              329.999        0              54
  11  Pot             1.836          1.027          -1.84          0              90             0              51
  12  Spatula         -0.660         0.816          1.953          0              0              0              58
  13  Spoon           2.046          0.765          4.372          0              329.999        0              54
  14  Spoon           2.761          0.801          -0.699         0              90             0              53
  15  Egg             -0.834         0.121          2.779          0              0              0              108
  16  Cup             2.614          1.025          1.499          0              136.999        0              53
  17  Cup             1.895          1.859          -1.876         0              0              0              99
  18  Plate           1.350          1.027          -1.667         0              90             0              53
  19  Plate           2.398          0.764          4.022          0              225            0              54
  20  SaltShaker      2.549          0.797          0.618          0              317.0          0              65
  21  PepperShaker    -0.544         1.023          2.311          0              0              0              56
  22  PepperShaker    2.538          0.799          -1.132         0              0              0              61
  23  Bread           -0.968         1.510          -0.184         0              90             0              97
  24  Apple           -0.851         0.866          1.414          0              90             0              110
  25  Pan             2.945          0.764          4.254          0              135            0              54
  26  Glassbottle     2.475          0.765          4.204          0              225            0              54
  27  Knife           2.762          0.828          -1.086         0              270            0              53
  28  SoapBottle      2.203          0.763          4.251          0              329.999        0              54
  29  Egg             2.460          0.808          4.399          0              329.999        0              54
  30  Fork            -1.215         1.028          1.150          0              90             0              56
  31  Potato          2.597          0.806          3.418          0              329.999        0              54
  32  Ladle           2.621          1.066          -0.846         0              0              0              53
  33  Tomato          2.101          0.818          3.821          0              270            0              54
  34  Pot             2.116          1.027          -1.84          0              270            0              57
  35  WineBottle      2.763          0.765          4.177          0              225            0              54
  36  Plate           2.685          0.764          3.994          0              225            0              54
  37  Spatula         2.570          0.779          3.614          0              329.999        0              54
  38  PaperTowelRoll  2.599          0.868          4.32           0              0              0              54
  39  Lettuce         2.875          1.085          -1.151         0              0              0              53
  40  Apple           2.859          1.077          1.447          0              136.999        0              53
  41  SaltShaker      2.705          0.796          -0.699         0              0              0              62
  42  PepperShaker    2.762          0.797          -0.267         0              0              0              63
  43  ButterKnife     2.706          1.026          -1.762         0              0              0              53
  44  Bread           2.741          1.085          0.059          0              0              0              53
  45  Cup             -0.906         0.784          -0.627         0              90             0              97
  46  DishSponge      2.808          0.032          -0.740         0              0              0              94
  47  Bowl            2.100          0.762          4.044          0              270            0              54
  48  Spoon           2.651          0.802          -0.313         0              0              0              53
  49  Mug             -0.542         0.043          2.265          0              90             0              73
  50  Sink            -0.716         1.023          1.333          0              0              0
  51  StoveBurner     1.835          1.018          -1.840         0              90             0
  52  StoveBurner     2.177          1.018          -1.599         0              0              0
  53  CounterTop      2.812          0.992          0.675          0              0              0
  54  DiningTable     2.419          0.003          3.930          0              0              0
  55  Drawer          -0.643         0.828          0.616          0              0              0
  56  CounterTop      -0.813         1.062          2.188          0              0              0
  57  StoveBurner     2.115          1.018          -1.840         0              270            0
  58  Drawer          -0.643         0.831          1.953          0              0              0
  59  Drawer          -0.643         0.833          2.418          0              0              0
  60  Drawer          1.347          0.836          -1.539         0              0              0
  61  Drawer          2.693          0.833          -1.131         0              0              0
  62  Drawer          2.693          0.833          -0.699         0              0              0
  63  Drawer          2.693          0.833          -0.267         0              0              0
  64  Drawer          2.693          0.833          0.163          0              0              0
  65  Drawer          2.524          0.833          0.720          0              2.000          0
  66  Drawer          2.232          0.833          1.036          0              2.000          0
  67  Drawer          1.936          0.833          1.354          0              2.000          0
  68  Drawer          1.646          0.833          1.670          0              2.000          0
  69  Cabinet         1.504          2.475          -1.710         0              0              0
  70  Cabinet         -0.823         2.220          1.621          0              0              0
  71  Cabinet         -0.823         2.220          0.615          0              0              0
  72  Cabinet         1.136          0.388          -1.355         0              0              0
  73  Cabinet         -0.356         0.383          2.626          0              0              0
  74  Cabinet         2.745          2.220          -1.690         0              0              0
  75  Cabinet         1.882          0.383          1.017          0              0              0
  76  Cabinet         1.307          0.473          1.640          0              0              0
  77  Cabinet         1.892          0.383          1.006          0              0              0
  78  Cabinet         2.467          0.383          0.383          0              0              0
  79  Cabinet         2.466          0.383          -0.475         0              0              0
  80  Cabinet         2.466          0.473          0.371          0              0              0
  81  Cabinet         2.386          2.475          -1.710         0              0              0
  82  Cabinet         -0.356         0.383          1.712          0              0              0
  83  Cabinet         2.745          2.220          0.019          0              0              0
  84  Cabinet         -0.663         2.496          0.157          0              0              0
  85  Cabinet         -0.663         2.496          -0.868         0              0              0
  86  Cabinet         -0.356         0.383          0.269          0              0              0
  87  Cabinet         -0.823         2.220          1.603          0              0              0
  88  Cabinet         -0.662         2.234          0.586          0              0              0
  89  Cabinet         2.745          2.220          -0.843         0              0              0
  90  Cabinet         2.745          2.220          -0.827         0              0              0
  91  Cabinet         -0.823         2.220          2.608          0              0              0
  92  Cabinet         2.732          2.226          -1.709         0              0              0
  93  Cabinet         1.137          2.226          -1.709         0              0              0
  94  Cabinet         2.466          0.383          -0.491         0              0              0
  95  Cabinet         2.466          0.383          -1.339         0              0              0
  96  StoveBurner     1.761          1.018          -1.599         0              0              0
  97  Fridge          -0.908         0.0            -0.405         0              0              0
  98  HousePlant      2.517          1.016          1.822          0              0              0
  99  Microwave       1.939          1.745          -1.826         0              0              0
 100  StoveKnob       2.017          1.041          -1.514         0              180            180
 101  StoveKnob       1.934          1.041          -1.514         0              180            180
 102  StoveKnob       2.017          1.041          -1.589         0              180            180
 103  StoveKnob       1.934          1.041          -1.589         0              180            180
 104  Window          1.756          1.608          4.762          90             0              0
 105  HousePlant      2.171          1.004          2.091          0              0              0
 106  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 107  LightSwitch     -0.099         1.410          -2.066         0              0              0
 108  GarbageCan      -0.951         -0.029         2.826          0              0              0
 109  Toaster         -1.007         1.018          2.238          0              90             0
 110  SinkBasin       -0.714         0.805          1.348          0              90             0
 111  Chair           1.615          0.004          4.310          0              107.976        0
 112  Faucet          -1.120         1.013          1.334          0              90             0
 113  Chair           2.759          0.004          3.086          0              358.967        0
 114
 115  NorthWall
 116  EastWall
 117  SouthWall
 118  WestWall

Plan:
STEP 1: Move to the large round white table where the tomato is sitting | STEP 2: Pick up the tomato on top of the white table | STEP 3: Carry the tomato to the microwave above the stove top | STEP 4: Place the tomato in the microwave, heat it then remove it | STEP 5: Carry the tomato to the trash can at the end of the counter top on the floor | STEP 6: Place the tomato in the trash can | END