Task: to cook a sliced tomato to throw it in 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           -0.75          0.900          -1.75          0              90             0
   1  Ladle           -0.794         1.066          1.943          0              0              0              56
   2  DishSponge      -0.577         0.816          1.414          0              90             0              110
   3  DishSponge      2.509          1.026          1.401          0              136.999        0              53
   4  ButterKnife     -0.714         0.824          1.337          0              90             0              110
   5  Pot             1.761          1.027          -1.599         0              0              0              96
   6  Spatula         2.138          0.779          4.213          0              149.999        0              54
   7  Spatula         2.425          1.041          -1.774         0              90             0              53
   8  Spoon           1.738          0.802          1.694          0              317.0          0              68
   9  Spoon           2.570          0.765          3.614          0              329.999        0              54
  10  Fork            2.705          0.800          -0.699         0              180            0              62
  11  Knife           -0.669         1.052          0.416          0              180            0              56
  12  Knife           2.579          0.789          4.044          0              239.999        0              54
  13  Tomato          2.626          0.818          4.118          0              270            0              54
  14  Tomato          -0.851         0.870          1.259          0              90             0              110
  15  SoapBottle      2.451          0.763          4.145          0              0              0              54
  16  SoapBottle      2.398          0.763          4.022          0              225            0              54
  17  Bowl            -0.645         0.814          1.181          0              90             0              110
  18  SaltShaker      2.673          0.760          3.795          0              0              0              54
  19  PepperShaker    2.267          0.760          4.288          0              329.999        0              54
  20  PepperShaker    2.649          0.796          -0.792         0              0              0              62
  21  Bread           -0.987         0.854          -0.184         0              90             0              97
  22  Bread           2.276          0.832          3.821          0              270            0              54
  23  Apple           -0.851         0.866          1.414          0              90             0              110
  24  Apple           2.719          1.077          1.597          0              136.999        0              53
  25  Pan             2.116          1.027          -1.84          0              270            0              57
  26  Glassbottle     1.529          1.027          -1.881         0              90             0              53
  27  Knife           2.299          1.052          1.205          0              136.999        0              66
  28  SoapBottle      -0.997         0.075          2.811          0              0              0              108
  29  Egg             1.895          1.905          -1.876         0              0              0              99
  30  Fork            2.228          0.765          3.62           0              270            0              54
  31  Potato          -0.877         1.484          -0.738         0              90             0              97
  32  Ladle           2.621          1.066          -0.541         0              0              0              53
  33  Tomato          2.621          1.080          -1.151         0              0              0              53
  34  Pot             1.836          1.027          -1.84          0              90             0              51
  35  WineBottle      2.683          1.027          1.004          0              136.999        0              53
  36  Plate           -1.045         1.027          2.556          0              0              0              56
  37  Spatula         2.162          0.816          1.036          0              227.0          0              66
  38  PaperTowelRoll  2.302          0.868          4.145          0              0              0              54
  39  Lettuce         -0.968         1.500          -0.295         0              90             0              97
  40  Apple           1.350          1.077          -1.987         0              90             0              53
  41  SaltShaker      2.976          0.760          4.044          0              270            0              54
  42  PepperShaker    -1.059         1.776          2.254          0              0              0              91
  43  ButterKnife     2.599          0.764          4.32           0              0              0              54
  44  Bread           2.790          1.094          -0.236         0              0              0              53
  45  Cup             -0.906         1.780          1.247          0              0              0              87
  46  DishSponge      -1.130         1.027          1.243          0              0              0              56
  47  Bowl            2.304          0.762          4.521          0              329.999        0              54
  48  Spoon           -0.851         0.817          1.492          0              180            0              110
  49  Mug             -1.069         0.781          -0.406         0              90             0              97
  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: walk forward towards the counter turn left then turn right. Turn left and follow the counter | STEP 2: pick up the knife from the counter | STEP 3: turn right then walk towards the stove turn left | STEP 4: slice up the tomato on the counter | STEP 5: turn left and follow the counter. Turn left again and go straight towards the wall then turn left again towards the trash can | STEP 6: put knife in the trash can | STEP 7: turn left and then turn right walk towards the door then turn left | STEP 8: pick up a tomato slice from the counter | STEP 9: turn right towards the stove then turn right then back to the stove cook tomato then pull tomato back out of the microwave | STEP 10: open the microwave and place tomato in shut the door and | STEP 11: turn around with the tomato walk towards the back wall then turn left | STEP 12: throw the tomato in the trash | END