Task: Moving a tomato slice to 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           -3.0           0.900          -1.25          0              90             0
   1  Pen             0.641          0.777          -1.533         0              0              0              75
   2  Pen             1.454          1.164          -1.345         0              0              0              81
   3  Ladle           1.260          0.955          -1.331         0              0              0              75
   4  Ladle           1.414          1.206          -0.659         0              0              0              81
   5  DishSponge      0.710          0.116          -1.680         0              90             0              69
   6  DishSponge      -1.764         0.116          -1.489         0              0              0              82
   7  Glassbottle     -1.810         1.656          -1.926         0              90             0              56
   8  Glassbottle     -2.323         0.911          0.463          0              0              0              77
   9  Fork            1.494          1.162          -1.688         0              90             0              81
  10  Fork            -1.809         0.911          -1.879         0              0              0              73
  11  Egg             1.369          1.846          2.306          0              270            0              94
  12  Egg             -2.201         0.939          0.118          0              0              0              77
  13  Cup             -1.957         0.910          0.204          0              0              0              77
  14  Cup             0.976          0.118          0.255          0              0              0              58
  15  Plate           1.150          0.115          -1.071         0              0              0              60
  16  Plate           -0.603         1.656          -1.839         0              0              0              57
  17  Tomato          -1.962         0.950          -1.448         0              0              0              73
  18  Bowl            0.589          0.117          -1.537         0              90             0              69
  19  PepperShaker    1.414          1.157          -1.688         0              0              0              81
  20  PepperShaker    -0.438         0.111          -1.586         0              0              0              61
  21  SaltShaker      1.454          1.157          -1.002         0              0              0              81
  22  Bread           1.010          0.989          -0.309         0              0              0              75
  23  Bread           1.335          1.240          -1.345         0              0              0              81
  24  Mug             1.070          0.957          -1.641         0              0              0              91
  25  Apple           1.441          1.300          -0.021         0              270            0              97
  26  Tomato          1.459          0.254          1.137          0              0              0              92
  27  Glassbottle     -1.732         0.911          -1.448         0              0              0              73
  28  Knife           -2.201         0.940          0.204          0              180            0              77
  29  Plate           -1.957         0.911          0.463          0              0              0              77
  30  Fork            0.903          0.775          0.431          0              90             0              52
  31  Ladle           1.093          0.955          0.031          0              0              0              75
  32  Potato          -1.809         0.952          -1.707         0              0              0              73
  33  Lettuce         -0.477         0.980          -1.704         0              0              0              75
  34  Kettle          -1.081         0.949          -1.81          0              0              0              71
  35  Pen             1.069          0.777          -0.732         0              270            0              66
  36  SaltShaker      0.808          1.650          -1.876         0              0              0              64
  37  Cup             1.207          0.115          -0.625         0              0              0              59
  38  Egg             1.341          0.243          1.022          0              0              0              92
  39  Spatula         -0.627         0.926          -1.448         0              0              0              75
  40  Bowl            -2.323         0.911          0.204          0              0              0              77
  41  SprayBottle     -1.809         0.909          -1.793         0              0              0              73
  42  Pan             -1.431         0.949          -1.525         0              0              0              83
  43  SoapBottle      1.494          1.162          -0.315         0              180            0              81
  44  Pot             -1.431         0.949          -1.81          0              0              0              85
  45  ButterKnife     -2.039         0.910          -1.448         0              0              0              73
  46  PepperShaker    -0.116         1.650          -1.913         0              0              0              65
  47  DishSponge      1.375          1.161          0.370          0              0              0              81
  48  Bread           1.375          1.445          1.851          0              270            0              94
  49  Apple           -2.079         0.945          0.204          0              0              0              77
  50  Spoon           -1.712         0.911          0.549          0              0              0              77
  51  Mug             0.970          1.650          -1.764         0              0              0              64
  52  Drawer          0.860          0.75           0.430          0              0              0
  53  Drawer          0.871          0.75           -1.134         0              0              0
  54  Sink            0.156          0.817          -1.801         0              270            0
  55  Cabinet         -0.868         2.005          -1.690         0              0              0
  56  Cabinet         -1.661         2.059          -1.684         0              90             0
  57  Cabinet         -0.817         2.059          -1.689         0              0              0
  58  Cabinet         0.860          0.402          0.665          0              0              0
  59  Cabinet         0.860          0.402          -0.552         0              0              0
  60  Cabinet         0.860          0.402          -1.365         0              0              0
  61  Cabinet         -0.244         0.402          -1.389         0              0              0
  62  Cabinet         -0.815         0.402          -1.389         0              0              0
  63  Cabinet         1.159          2.059          -0.334         0              0              0
  64  Cabinet         0.488          2.059          -1.689         0              0              0
  65  Cabinet         -0.193         2.059          -1.689         0              0              0
  66  Drawer          0.860          0.75           -0.699         0              0              0
  67  Cabinet         1.159          2.059          -1.019         0              0              0
  68  Cabinet         -1.611         2.005          -1.690         0              0              0
  69  Cabinet         0.832          0.401          -1.393         0              90             0
  70  Drawer          -2.105         0.75           -1.389         0              0              0
  71  StoveBurner     -1.081         0.941          -1.809         0              0              0
  72  Cabinet         -0.202         0.401          -1.391         0              90             0
  73  CounterTop      -1.973         0.945          -1.707         0              0              0
  74  Drawer          -0.375         0.75           -1.389         0              0              0
  75  CounterTop      1.164          0.946          -0.649         0              0              0
  76  StoveBurner     -1.081         0.941          -1.527         0              0              0
  77  CounterTop      -2.096         0.945          0.291          0              0              0
  78  Cabinet         -2.237         0.402          -1.389         0              0              0
  79  Drawer          0.584          0.75           -1.389         0              0              0
  80  Drawer          -1.795         0.75           -1.389         0              0              0
  81  CounterTop      1.5            1.197          -0.654         0              0              0
  82  Cabinet         -1.667         0.402          -1.389         0              0              0
  83  StoveBurner     -1.430         0.941          -1.525         0              0              0
  84  Drawer          -0.685         0.75           -1.389         0              0              0
  85  StoveBurner     -1.430         0.941          -1.809         0              0              0
  86  LightSwitch     -2.539         1.289          2.568          0              90             0
  87  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  88  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  89  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  90  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  91  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  92  GarbageCan      1.343          0.015          1.041          0              0              0
  93  HousePlant      1.440          1.153          0.593          0              0              0
  94  Fridge          1.417          0.0            2.101          0              0              0
  95  Window          -0.486         1.452          3.302          90             0              0
  96  SinkBasin       -0.063         0.765          -1.713         0              270            0
  97  Microwave       1.422          1.150          0.022          0              270            0
  98  Toaster         -2.066         0.900          -1.848         0              0              0
  99  Stool           -1.994         0.010          0.882          0              0              0
 100  Faucet          -0.096         1.041          -1.867         0              270            0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Turn right and face the counter with the toaster on it | STEP 2: Grab the knife off of the counter | STEP 3: Cut the tomato on the counter into slices | STEP 4: Look up at the counter | STEP 5: Put the knife on the counter | STEP 6: Look down at the counter | STEP 7: Grab a slice of tomato off of the counter | STEP 8: Turn left and go to the sink | STEP 9: Wash the tomato in the sink and then take it out | STEP 10: Turn around and go to the trash can | STEP 11: Put the tomato in the trash can | END