Task: put a slice of tomato inside 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           -1.75          0.901          -1.25          0              90             0
   1  DishSponge      -3.255         0.713          -0.709         0              225            0              90
   2  ButterKnife     -2.723         0.713          -0.496         0              270            0              90
   3  Spatula         -0.500         0.761          -3.079         0              90             0              76
   4  Spatula         -0.419         0.930          -1.555         0              90             0              73
   5  Spoon           -0.338         0.917          -0.524         0              0              0              73
   6  Fork            -2.987         0.914          -3.729         0              0              0              46
   7  Egg             -3.182         1.434          -2.064         0              90             0              87
   8  Egg             -1.058         0.949          -3.655         0              0              0              46
   9  Cup             -2.865         0.714          -0.683         0              270            0              90
  10  Plate           -3.309         0.911          -3.126         0              0              0              46
  11  Knife           -0.854         0.946          -3.804         0              0              0              46
  12  Knife           -3.155         0.746          -0.383         0              225            0              90
  13  Tomato          -0.176         0.965          -1.616         0              0              0              73
  14  Tomato          -2.576         0.763          -0.608         0              135            0              90
  15  SoapBottle      -2.740         0.713          -0.780         0              0              0              90
  16  SoapBottle      -0.179         1.296          -3.725         0              315            0              66
  17  Bowl            -3.182         0.638          -2.002         0              90             0              87
  18  SaltShaker      -3.098         0.713          -0.528         0              135            0              90
  19  SaltShaker      -0.382         0.742          -2.858         0              0              0              76
  20  PepperShaker    -3.226         1.864          -2.277         0              0              0              55
  21  PepperShaker    -0.773         0.078          -3.557         0              0              0              48
  22  Mug             -0.500         0.911          -1.432         0              0              0              73
  23  Apple           -3.034         0.759          -0.930         0              225            0              90
  24  Apple           -0.500         0.958          -0.507         0              0              0              73
  25  Pot             -0.376         0.975          -2.031         0              180            0              75
  26  Egg             -2.990         0.749          -0.780         0              0              0              90
  27  Cup             -1.914         0.082          -3.674         0              0              0              67
  28  Bread           -0.327         0.948          -3.681         0              298.222        0              46
  29  Fork            -0.244         0.914          -2.911         0              270            0              46
  30  Pan             -0.394         0.973          -2.414         0              0              0              71
  31  Potato          -0.447         0.957          -3.804         0              0              0              46
  32  Lettuce         -3.292         0.804          -0.495         0              270            0              90
  33  Tomato          -0.223         0.129          -0.115         0              270            0              85
  34  Apple           -0.176         0.958          -1.309         0              0              0              73
  35  SoapBottle      -2.581         0.716          -0.371         0              270            0              90
  36  Spatula         -2.664         0.731          -0.697         0              225            0              90
  37  SaltShaker      -2.053         0.078          -3.674         0              0              0              67
  38  Knife           -2.439         0.749          -0.496         0              270            0              90
  39  PepperShaker    -3.053         0.713          -0.638         0              0              0              90
  40  ButterKnife     -0.338         0.916          -0.542         0              0              0              73
  41  Plate           -3.275         1.866          -2.084         0              0              0              56
  42  DishSponge      -3.140         0.746          -3.023         0              0              0              68
  43  Spoon           -2.740         0.718          -0.353         0              180            0              90
  44  Mug             -0.096         1.007          -0.802         0              270            0              83
  45  Bowl            -0.452         0.078          -1.414         0              0              0              51
  46  CounterTop      -1.789         0.949          -3.803         0              0              0
  47  Cabinet         -0.577         0.388          -3.476         0              0              0
  48  Cabinet         -0.605         0.388          -3.511         0              0              0
  49  Cabinet         -2.976         0.388          -3.201         0              0              0
  50  Cabinet         -0.577         0.388          -0.447         0              0              0
  51  Cabinet         -0.577         0.388          -1.725         0              0              0
  52  Cabinet         -0.226         1.803          -1.743         0              0              0
  53  Cabinet         -0.228         1.799          -0.447         0              0              0
  54  Cabinet         -6.010         1.139          -6.019         0              0              0
  55  Cabinet         -3.022         2.098          -2.681         0              0              0
  56  Cabinet         -3.022         2.098          -1.743         0              0              0
  57  Cabinet         -0.577         0.388          -2.736         0              0              0
  58  Cabinet         -3.232         1.803          -3.343         0              0              0
  59  Cabinet         -2.811         1.810          -3.764         0              0              0
  60  Cabinet         -1.233         1.810          -3.764         0              0              0
  61  Cabinet         -1.364         0.388          -3.511         0              0              0
  62  Cabinet         -1.380         0.388          -3.511         0              0              0
  63  Cabinet         -0.226         1.803          -2.725         0              0              0
  64  Cabinet         -0.236         2.098          -1.767         0              0              0
  65  Cabinet         -0.236         2.098          -2.705         0              0              0
  66  Cabinet         -0.193         1.210          -4.239         0              0              0
  67  Cabinet         -2.148         0.388          -3.511         0              0              0
  68  Drawer          -3.104         0.797          -2.968         0              0              0
  69  Drawer          -0.449         0.797          -1.410         0              0              0
  70  Sink            -1.786         0.902          -3.748         0              0              0
  71  StoveBurner     -0.376         0.936          -2.451         0              0              0
  72  Drawer          -0.449         0.797          -0.762         0              0              0
  73  CounterTop      -0.268         0.951          -1.089         0              0              0
  74  Drawer          -0.449         0.797          -3.348         0              0              0
  75  StoveBurner     -0.376         0.936          -2.031         0              180            0
  76  Drawer          -0.449         0.797          -2.968         0              0              0
  77  StoveBurner     -0.165         0.936          -2.030         0              180            0
  78  StoveBurner     -0.165         0.936          -2.450         0              0              0
  79  StoveKnob       -0.568         0.903          -2.313         45             270            0
  80  StoveKnob       -0.568         0.903          -2.470         45             270            0
  81  StoveKnob       -0.568         0.903          -2.166         45             270            0
  82  StoveKnob       -0.568         0.903          -2.003         45             270            0
  83  Microwave       -0.143         0.903          -0.908         0              270            0
  84  LightSwitch     -1.108         1.457          0.338          0              180            0
  85  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  86  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  87  Fridge          -3.188         0.0            -2.184         0              0              0
  88  SinkBasin       -1.786         0.779          -3.747         0              0              0
  89  Toaster         -0.230         0.903          -3.406         0              270            0
  90  DiningTable     -2.800         0.003          -0.505         0              0              0
  91  Chair           -3.044         0.003          -1.223         0              32.194         0
  92  Faucet          -1.791         1.136          -3.913         0              270            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: turn to the left go left towards the table | STEP 2: pick up the knife from the table | STEP 3: turn around to the left go forward towards the trash can  | STEP 4: slice the tomato that is inside the trash can | STEP 5: pick up a slice of tomato | STEP 6: turn to the right | STEP 7: turn to the left go right go forward towards the refrigerator | STEP 8: put the slice of tomato inside the refrigerator get it back out  | STEP 9: go right turn to the right go left towards the trash can | STEP 10: put the slice of tomato inside the trash can | END