Task: Microwave a tomato and put 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           0.0            0.900          -2.0           0              180            0
   1  Vase            -0.846         0.934          -1.540         0              0              0              57
   2  CreditCard      -1.881         0.551          2.563          0              0              0              83
   3  CreditCard      0.915          0.699          -0.690         0              270            0              55
   4  CellPhone       0.944          0.908          -1.879         0              0              0              63
   5  CellPhone       -1.363         0.550          2.822          0              0              0              83
   6  ButterKnife     -0.697         0.780          -0.745         0              90             0              78
   7  ButterKnife     -0.846         0.933          -0.143         0              0              0              57
   8  Glassbottle     -0.920         0.934          -0.067         0              0              0              57
   9  Glassbottle     1.194          1.667          -0.337         0              270            0              66
  10  Fork            0.834          0.495          -0.607         0              270            0              61
  11  Fork            -0.698         0.777          -0.573         0              0              0              78
  12  Cup             1.087          0.860          1.444          0              270            0              80
  13  Tomato          0.905          1.683          1.158          0              270            0              80
  14  SoapBottle      -1.571         0.882          2.719          0              0              0              84
  15  Bowl            -0.697         0.779          -0.832         0              90             0              78
  16  PepperShaker    0.773          0.907          -0.381         0              0              0              58
  17  Lettuce         0.944          0.988          -0.381         0              0              0              58
  18  Lettuce         0.905          1.212          1.444          0              270            0              80
  19  Bread           0.773          0.992          0.139          0              0              0              58
  20  Mug             0.783          1.638          1.444          0              270            0              80
  21  Apple           1.026          1.185          1.158          0              270            0              80
  22  Apple           0.783          1.452          1.540          0              270            0              80
  23  Statue          0.773          0.914          -0.729         0              180            0              58
  24  Glassbottle     0.688          0.912          -1.965         0              0              0              63
  25  Bread           -0.782         0.996          0.218          0              256.491        0              57
  26  CreditCard      1.199          0.908          -0.208         0              0              0              58
  27  CellPhone       -0.846         0.930          -1.308         0              0              0              57
  28  Potato          0.965          1.432          1.444          0              270            0              80
  29  Knife           0.868          0.700          -0.600         90             315            0              55
  30  Fork            0.859          0.911          -0.208         0              0              0              58
  31  Pan             -1.292         0.931          -0.643         0              0              0              57
  32  Lettuce         0.966          0.940          1.254          0              270            0              80
  33  Plate           -1.104         0.936          -1.430         0              0              0              57
  34  Apple           1.148          1.693          0.967          0              270            0              80
  35  Pot             1.077          0.950          -1.504         0              0              0              53
  36  Spatula         1.029          0.926          -0.034         0              0              0              58
  37  PaperTowelRoll  -0.624         1.037          -1.618         0              0              0              57
  38  Tomato          1.199          0.952          -0.034         0              0              0              58
  39  Egg             0.783          1.172          1.254          0              270            0              80
  40  SaltShaker      0.773          0.907          -1.879         0              0              0              63
  41  PepperShaker    1.055          1.662          0.025          0              270            0              65
  42  Vase            -0.698         0.933          -1.308         0              0              0              57
  43  ButterKnife     -1.292         0.933          -0.380         0              0              0              57
  44  SoapBottle      1.082          2.208          -1.299         0              270            0              64
  45  Vase            -1.985         0.555          2.718          0              0              0              83
  46  Bowl            1.055          1.669          0.153          0              270            0              65
  47  DishSponge      1.101          1.665          -2.029         0              270            0              56
  48  Spoon           -0.550         0.919          0.162          0              0              0              57
  49  Cup             -0.587         0.777          -0.400         0              90             0              78
  50  Mug             1.126          2.203          -1.082         0              270            0              64
  51  StoveBurner     0.842          0.919          -1.098         0              0              0
  52  Cabinet         0.648          0.474          0.244          0              270            0
  53  StoveBurner     1.077          0.919          -1.504         0              0              0
  54  StoveBurner     0.842          0.919          -1.504         0              0              0
  55  Drawer          0.637          0.755          -0.649         0              270            0
  56  Cabinet         0.949          2.159          -2.375         0              270            0
  57  CounterTop      -1.238         0.968          -0.643         0              0              0
  58  CounterTop      0.931          0.946          -0.208         0              0              0
  59  StoveBurner     1.077          0.919          -1.098         0              0              0
  60  Drawer          0.637          0.268          -0.649         0              270            0
  61  Drawer          0.637          0.547          -0.649         0              270            0
  62  Cabinet         0.648          0.475          -1.714         0              0              0
  63  CounterTop      0.931          0.946          -2.051         0              0              0
  64  Cabinet         0.948          2.439          -1.780         0              270            0
  65  Cabinet         0.948          2.159          -0.140         0              270            0
  66  Cabinet         0.949          2.159          -0.758         0              270            0
  67  Sink            -0.699         0.927          -0.649         0              0              0
  68  LightSwitch     -2.371         1.218          3.049          0              180            0
  69  StoveKnob       0.673          0.899          -1.373         315            90             180
  70  StoveKnob       0.673          0.899          -1.519         315            90             180
  71  StoveKnob       0.673          0.899          -1.086         315            90             180
  72  StoveKnob       0.673          0.899          -1.237         315            90             180
  73  Toaster         0.984          0.900          0.329          0              270            0
  74  Window          0.014          0.998          -2.640         90             0              0
  75  Window          -2.996         0.998          -2.640         90             0              0
  76  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  77  GarbageCan      -0.946         -0.036         0.575          0              180            0
  78  SinkBasin       -0.698         0.765          -0.647         0              90             0
  79  Microwave       1.042          1.680          -1.295         0              270            0
  80  Fridge          0.966          0.0            1.253          0              0              0
  81  HousePlant      -1.354         0.919          -1.540         0              0              0
  82  Shelf           -1.635         0.172          2.715          0              180            0
  83  Shelf           -1.635         0.552          2.715          0              180            0
  84  Shelf           -1.635         0.880          2.715          0              180            0
  85  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  86  Chair           -1.832         0.002          -0.034         0              119.999        0
  87  Chair           -1.854         0.002          -0.956         0              67.887         0
  88  Faucet          -0.867         1.161          -0.651         0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn left and go to the counter next to the refrigerator | STEP 2: Pick up the tomato | STEP 3: Turn right and face the microwave oven above the stove | STEP 4: Open the microwave door, put the tomato in, close the door. Then open the door and take the tomato out of the microwave | STEP 5: Go left around the island counter until facing the black trash can | STEP 6: Put the tomato in the right side of the trash can | END