Task: Place the chilled tomato slice inside the trash can at the end of the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          2.75           0              180            0
   1  Pan             1.761          1.027          -1.599         0              0              0              96
   2  Potato          -0.577         0.858          1.259          0              90             0              110
   3  Potato          -1.059         1.484          -0.738         0              90             0              97
   4  DishSponge      2.855          0.764          3.567          0              329.999        0              54
   5  DishSponge      2.762          0.800          0.256          0              0              0              64
   6  WineBottle      2.658          0.765          4.282          0              225            0              54
   7  WineBottle      2.055          1.027          1.256          0              136.999        0              53
   8  Glassbottle     -0.851         0.817          1.103          0              90             0              110
   9  Spatula         -0.577         0.831          1.492          0              0              0              110
  10  Spatula         2.975          0.779          4.118          0              0              0              54
  11  Cup             2.706          1.025          -0.236         0              0              0              53
  12  Plate           2.621          1.027          0.068          0              0              0              53
  13  Plate           1.925          0.764          3.969          0              270            0              54
  14  SoapBottle      -0.418         1.026          2.434          0              0              0              56
  15  Bowl            1.895          1.859          -1.843         0              0              0              99
  16  Bowl            -0.858         0.332          -0.738         0              90             0              97
  17  SaltShaker      -0.360         1.023          1.263          0              0              0              56
  18  SaltShaker      2.169          2.275          -1.793         0              0              0              81
  19  PepperShaker    2.706          0.797          -1.224         0              0              0              61
  20  PepperShaker    2.228          0.760          3.795          0              0              0              54
  21  Bread           2.859          1.094          1.447          0              136.999        0              53
  22  Lettuce         2.451          0.822          3.795          0              0              0              54
  23  Mug             -0.877         1.437          -0.073         0              90             0              97
  24  Mug             -0.947         0.781          -0.738         0              90             0              97
  25  Pan             2.116          1.027          -1.84          0              270            0              57
  26  Glassbottle     1.170          1.027          -1.560         0              90             0              53
  27  Knife           -0.544         1.052          2.556          0              0              0              56
  28  SoapBottle      1.301          1.779          -1.872         0              0              0              93
  29  Egg             -1.028         0.830          -0.738         0              90             0              97
  30  Fork            2.578          1.027          0.907          0              136.999        0              53
  31  Potato          1.925          0.806          4.192          0              270            0              54
  32  Ladle           1.170          1.066          -1.881         0              90             0              53
  33  Tomato          1.777          1.080          1.555          0              136.999        0              53
  34  Pot             1.334          0.023          -1.670         0              270            0              72
  35  WineBottle      -1.074         1.028          1.427          0              0              0              56
  36  Plate           2.626          0.764          3.970          0              270            0              54
  37  Spatula         2.840          0.779          4.359          0              225            0              54
  38  PaperTowelRoll  2.634          0.868          3.651          0              59.999         0              54
  39  Lettuce         -0.794         1.085          2.066          0              0              0              56
  40  Apple           -0.987         0.836          -0.073         0              90             0              97
  41  SaltShaker      2.294          0.760          4.091          0              329.999        0              54
  42  PepperShaker    2.594          0.799          -1.132         0              0              0              61
  43  ButterKnife     2.376          0.764          4.32           0              0              0              54
  44  Bread           2.599          0.832          3.445          0              0              0              54
  45  Cup             2.801          0.763          3.895          0              270            0              54
  46  DishSponge      -0.518         0.800          2.510          0              0              0              59
  47  Bowl            2.735          0.762          4.464          0              225            0              54
  48  Spoon           2.030          0.802          1.568          0              227.0          0              67
  49  Mug             2.976          0.759          4.044          0              270            0              54
  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: Turn to the right and walk towards the end of the counter top. | STEP 2: Pick the yellow knife up from off of the counter top. | STEP 3: Turn to the left and walk to the other side of the counter top. | STEP 4: Slice the tomato on the counter top. | STEP 5: Turn around and head to the left to face the black refrigerator. | STEP 6: Open the refrigerator, place the knife inside, and close the refrigerator. | STEP 7: Turn around, move to the left and face the end of the counter. | STEP 8: Pick up a slice of the tomato | STEP 9: Turn around and head to the left to face the black refrigerator. | STEP 10: Open the refrigerator, place the tomato slice inside, close the refrigerator, wait a few seconds, open the refrigerator, pick up the tomato slice, and close the refrigerator. | STEP 11: Turn to the right and walk to the end of the counter to face the silver trash can. | STEP 12: Place the slice of tomato in the trash can. | END