Task: Discard a chilled slice of tomato in a kitchen wastebasket.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          3.25           0              270            0
   1  Pan             -0.968         1.441          -0.406         0              180            0              98
   2  Pan             -0.794         1.027          1.943          0              270            0              57
   3  Potato          1.895          1.903          -1.775         0              270            0              100
   4  Potato          -0.577         0.858          1.259          0              90             0              111
   5  DishSponge      2.650          0.034          0.168          0              0              0              81
   6  ButterKnife     -0.645         0.816          1.414          0              90             0              111
   7  ButterKnife     2.959          1.026          -1.456         0              0              0              54
   8  WineBottle      2.976          0.765          3.747          0              270            0              55
   9  WineBottle      2.975          0.765          4.118          0              270            0              55
  10  Spoon           2.569          0.802          0.889          0              227.0          0              66
  11  Fork            2.698          0.765          3.688          0              329.999        0              55
  12  Egg             -1.171         1.071          2.556          0              0              0              57
  13  Cup             1.895          1.859          -1.876         0              0              0              100
  14  Cup             2.893          0.763          4.307          0              225            0              55
  15  Knife           2.076          0.827          1.422          0              47.0           0              68
  16  Knife           2.875          1.052          -1.456         0              90             0              54
  17  SoapBottle      2.008          0.763          3.632          0              225            0              55
  18  SaltShaker      -1.130         1.023          1.243          0              0              0              57
  19  SaltShaker      2.875          1.023          -0.541         0              0              0              54
  20  PepperShaker    2.822          0.028          -1.074         0              0              0              96
  21  Bread           1.290          1.094          -1.454         0              90             0              54
  22  Lettuce         -0.851         0.874          1.259          0              90             0              111
  23  Mug             -0.987         0.781          -0.627         0              90             0              98
  24  Apple           -0.544         1.077          2.189          0              0              0              57
  25  Apple           -0.544         1.077          0.323          0              0              0              57
  26  Pan             1.761          1.027          -1.599         0              0              0              97
  27  Glassbottle     2.724          0.033          -0.791         0              0              0              95
  28  Knife           2.487          0.789          4.203          0              329.999        0              55
  29  SoapBottle      2.737          0.031          -1.074         0              0              0              96
  30  Egg             -1.069         0.830          -0.184         0              90             0              98
  31  Fork            1.230          1.027          -1.881         0              90             0              54
  32  Potato          -0.997         0.119          2.811          0              0              0              109
  33  Ladle           2.976          0.803          3.895          0              270            0              55
  34  Tomato          1.953          1.080          1.998          0              136.999        0              54
  35  Pot             2.177          1.027          -1.599         0              0              0              53
  36  WineBottle      -0.629         0.048          2.519          0              0              0              74
  37  Plate           2.706          1.027          -0.236         0              0              0              54
  38  Spatula         2.518          0.816          0.652          0              47.0           0              66
  39  PaperTowelRoll  2.046          0.868          4.372          0              329.999        0              55
  40  Lettuce         -0.544         1.085          0.692          0              0              0              57
  41  Apple           2.626          0.814          4.044          0              270            0              55
  42  SaltShaker      2.555          0.760          3.865          0              225            0              55
  43  PepperShaker    2.276          0.760          3.895          0              270            0              55
  44  ButterKnife     2.959          1.026          -0.236         0              0              0              54
  45  Bread           2.414          0.832          3.736          0              329.999        0              55
  46  Cup             2.106          1.859          -1.843         0              0              0              100
  47  DishSponge      2.533          0.764          3.381          0              329.999        0              55
  48  Bowl            -0.899         1.762          0.351          0              0              0              89
  49  Spoon           2.621          1.028          -0.846         0              0              0              54
  50  Mug             2.386          0.759          3.932          0              329.999        0              55
  51  Sink            -0.716         1.023          1.333          0              0              0
  52  StoveBurner     1.835          1.018          -1.840         0              90             0
  53  StoveBurner     2.177          1.018          -1.599         0              0              0
  54  CounterTop      2.812          0.992          0.675          0              0              0
  55  DiningTable     2.419          0.003          3.930          0              0              0
  56  Drawer          -0.643         0.828          0.616          0              0              0
  57  CounterTop      -0.813         1.062          2.188          0              0              0
  58  StoveBurner     2.115          1.018          -1.840         0              270            0
  59  Drawer          -0.643         0.831          1.953          0              0              0
  60  Drawer          -0.643         0.833          2.418          0              0              0
  61  Drawer          1.347          0.836          -1.539         0              0              0
  62  Drawer          2.693          0.833          -1.131         0              0              0
  63  Drawer          2.693          0.833          -0.699         0              0              0
  64  Drawer          2.693          0.833          -0.267         0              0              0
  65  Drawer          2.693          0.833          0.163          0              0              0
  66  Drawer          2.524          0.833          0.720          0              2.000          0
  67  Drawer          2.232          0.833          1.036          0              2.000          0
  68  Drawer          1.936          0.833          1.354          0              2.000          0
  69  Drawer          1.646          0.833          1.670          0              2.000          0
  70  Cabinet         1.504          2.475          -1.710         0              0              0
  71  Cabinet         -0.823         2.220          1.621          0              0              0
  72  Cabinet         -0.823         2.220          0.615          0              0              0
  73  Cabinet         1.136          0.388          -1.355         0              0              0
  74  Cabinet         -0.356         0.383          2.626          0              0              0
  75  Cabinet         2.745          2.220          -1.690         0              0              0
  76  Cabinet         1.882          0.383          1.017          0              0              0
  77  Cabinet         1.307          0.473          1.640          0              0              0
  78  Cabinet         1.892          0.383          1.006          0              0              0
  79  Cabinet         2.467          0.383          0.383          0              0              0
  80  Cabinet         2.466          0.383          -0.475         0              0              0
  81  Cabinet         2.466          0.473          0.371          0              0              0
  82  Cabinet         2.386          2.475          -1.710         0              0              0
  83  Cabinet         -0.356         0.383          1.712          0              0              0
  84  Cabinet         2.745          2.220          0.019          0              0              0
  85  Cabinet         -0.663         2.496          0.157          0              0              0
  86  Cabinet         -0.663         2.496          -0.868         0              0              0
  87  Cabinet         -0.356         0.383          0.269          0              0              0
  88  Cabinet         -0.823         2.220          1.603          0              0              0
  89  Cabinet         -0.662         2.234          0.586          0              0              0
  90  Cabinet         2.745          2.220          -0.843         0              0              0
  91  Cabinet         2.745          2.220          -0.827         0              0              0
  92  Cabinet         -0.823         2.220          2.608          0              0              0
  93  Cabinet         2.732          2.226          -1.709         0              0              0
  94  Cabinet         1.137          2.226          -1.709         0              0              0
  95  Cabinet         2.466          0.383          -0.491         0              0              0
  96  Cabinet         2.466          0.383          -1.339         0              0              0
  97  StoveBurner     1.761          1.018          -1.599         0              0              0
  98  Fridge          -0.908         0.0            -0.405         0              0              0
  99  HousePlant      2.517          1.016          1.822          0              0              0
 100  Microwave       1.939          1.745          -1.826         0              0              0
 101  StoveKnob       2.017          1.041          -1.514         0              180            180
 102  StoveKnob       1.934          1.041          -1.514         0              180            180
 103  StoveKnob       2.017          1.041          -1.589         0              180            180
 104  StoveKnob       1.934          1.041          -1.589         0              180            180
 105  Window          1.756          1.608          4.762          90             0              0
 106  HousePlant      2.171          1.004          2.091          0              0              0
 107  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 108  LightSwitch     -0.099         1.410          -2.066         0              0              0
 109  GarbageCan      -0.951         -0.029         2.826          0              0              0
 110  Toaster         -1.007         1.018          2.238          0              90             0
 111  SinkBasin       -0.714         0.805          1.348          0              90             0
 112  Chair           1.615          0.004          4.310          0              107.976        0
 113  Faucet          -1.120         1.013          1.334          0              90             0
 114  Chair           2.759          0.004          3.086          0              358.967        0
 115
 116  NorthWall
 117  EastWall
 118  SouthWall
 119  WestWall

Plan:
STEP 1: Turn left and go until you come to the fridge, then turn left again and go across the room to the counter on the other side. | STEP 2: Pick up the knife that is behind the plate on the counter. | STEP 3: Follow the counter to your left, until you come to a tomato near a flower pot. | STEP 4: Cut the tomato into slices. | STEP 5: Turn right and cross the room to the fridge. | STEP 6: Put the knife in the fridge, in front of the mug, near the front edge of the shelf. | STEP 7: Retrace your path to go back to the sliced tomato. | STEP 8: Take the slice of tomato nearest to the end of the counter. | STEP 9: Carry the slice of tomato back to the fridge. | STEP 10: Put the tomato slice in the fridge, to the right of the knife, then take it out again. | STEP 11: Turn right and go the end of the counter on your left, then go around the end of the counter and turn to face the end of the counter. | STEP 12: Discard the slice of tomato in the wastebasket on the at the end of the counter. | END