Task: Throw out a clean tomato slice in the garbage.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          -0.25          0              270            0
   1  Pan             -1.081         0.949          -1.527         0              0              0              74
   2  SprayBottle     1.302          0.213          1.137          0              0              0              90
   3  SprayBottle     -1.957         0.909          0.204          0              0              0              75
   4  Pen             1.002          0.776          0.323          0              0              0              50
   5  Pen             1.176          0.913          0.372          0              0              0              50
   6  Ladle           0.645          1.699          -1.839         0              0              0              62
   7  Ladle           0.649          0.161          -1.537         0              90             0              67
   8  ButterKnife     0.664          0.911          -1.619         0              0              0              73
   9  DishSponge      -2.445         0.910          0.032          0              0              0              75
  10  Fork            -2.116         0.911          -1.534         0              90             0              71
  11  Spoon           0.970          0.772          -0.665         0              270            0              64
  12  Spatula         -0.174         0.926          -1.436         0              180            0              73
  13  Pot             -1.431         0.949          -1.81          0              0              0              83
  14  Pot             -1.957         0.912          0.377          0              0              0              75
  15  Cup             1.454          1.162          -1.002         0              0              0              79
  16  Knife           0.916          0.802          -1.178         0              90             0              51
  17  SoapBottle      -1.809         0.910          -1.965         0              0              0              71
  18  SoapBottle      -0.037         1.655          -1.876         0              0              0              63
  19  Tomato          1.459          0.254          1.108          0              0              0              90
  20  Tomato          -2.323         0.950          0.377          0              0              0              75
  21  Tomato          0.285          0.959          -1.708         0              270            0              52
  22  Bowl            1.426          1.368          2.351          0              270            0              92
  23  Bread           1.494          1.240          -1.345         0              0              0              79
  24  Tomato          1.335          1.202          -1.002         0              0              0              79
  25  Glassbottle     1.476          1.368          1.725          0              270            0              92
  26  Knife           -1.886         0.940          -1.620         0              180            0              71
  27  Plate           1.093          0.115          -1.129         0              0              0              58
  28  Fork            0.982          0.775          -1.013         0              270            0              51
  29  Ladle           1.343          0.955          -0.990         0              0              0              73
  30  Potato          1.325          1.409          1.851          0              270            0              92
  31  Lettuce         -0.477         0.980          -1.619         0              0              0              73
  32  Kettle          -1.431         0.949          -1.525         0              0              0              81
  33  Pen             -2.201         0.913          0.463          0              0              0              75
  34  SaltShaker      -0.953         1.845          -1.765         0              0              0              53
  35  Cup             -1.712         0.910          0.032          0              0              0              75
  36  Egg             1.376          1.288          0.083          0              270            0              95
  37  Spatula         -2.079         0.925          0.204          0              0              0              75
  38  Bowl            -1.952         1.656          -1.866         0              90             0              54
  39  SprayBottle     0.199          0.910          -1.409         0              0              0              52
  40  Pan             -0.603         1.655          -1.839         0              0              0              55
  41  SoapBottle      0.183          0.919          -1.758         0              270            0              52
  42  Pot             1.461          1.658          -1.342         0              0              0              65
  43  ButterKnife     -1.962         0.910          -1.448         0              0              0              71
  44  PepperShaker    0.976          0.112          0.313          0              0              0              56
  45  DishSponge      1.533          1.161          0.370          0              0              0              79
  46  Bread           -0.703         0.989          -1.874         0              0              0              73
  47  Apple           -2.201         0.945          0.549          0              0              0              75
  48  Spoon           -1.835         0.911          0.549          0              0              0              75
  49  Mug             1.441          1.260          0.188          0              270            0              95
  50  Drawer          0.860          0.75           0.430          0              0              0
  51  Drawer          0.871          0.75           -1.134         0              0              0
  52  Sink            0.156          0.817          -1.801         0              270            0
  53  Cabinet         -0.868         2.005          -1.690         0              0              0
  54  Cabinet         -1.661         2.059          -1.684         0              90             0
  55  Cabinet         -0.817         2.059          -1.689         0              0              0
  56  Cabinet         0.860          0.402          0.665          0              0              0
  57  Cabinet         0.860          0.402          -0.552         0              0              0
  58  Cabinet         0.860          0.402          -1.365         0              0              0
  59  Cabinet         -0.244         0.402          -1.389         0              0              0
  60  Cabinet         -0.815         0.402          -1.389         0              0              0
  61  Cabinet         1.159          2.059          -0.334         0              0              0
  62  Cabinet         0.488          2.059          -1.689         0              0              0
  63  Cabinet         -0.193         2.059          -1.689         0              0              0
  64  Drawer          0.860          0.75           -0.699         0              0              0
  65  Cabinet         1.159          2.059          -1.019         0              0              0
  66  Cabinet         -1.611         2.005          -1.690         0              0              0
  67  Cabinet         0.832          0.401          -1.393         0              90             0
  68  Drawer          -2.105         0.75           -1.389         0              0              0
  69  StoveBurner     -1.081         0.941          -1.809         0              0              0
  70  Cabinet         -0.202         0.401          -1.391         0              90             0
  71  CounterTop      -1.973         0.945          -1.707         0              0              0
  72  Drawer          -0.375         0.75           -1.389         0              0              0
  73  CounterTop      1.164          0.946          -0.649         0              0              0
  74  StoveBurner     -1.081         0.941          -1.527         0              0              0
  75  CounterTop      -2.096         0.945          0.291          0              0              0
  76  Cabinet         -2.237         0.402          -1.389         0              0              0
  77  Drawer          0.584          0.75           -1.389         0              0              0
  78  Drawer          -1.795         0.75           -1.389         0              0              0
  79  CounterTop      1.5            1.197          -0.654         0              0              0
  80  Cabinet         -1.667         0.402          -1.389         0              0              0
  81  StoveBurner     -1.430         0.941          -1.525         0              0              0
  82  Drawer          -0.685         0.75           -1.389         0              0              0
  83  StoveBurner     -1.430         0.941          -1.809         0              0              0
  84  LightSwitch     -2.539         1.289          2.568          0              90             0
  85  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  86  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  87  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  88  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  89  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  90  GarbageCan      1.343          0.015          1.041          0              0              0
  91  HousePlant      1.440          1.153          0.593          0              0              0
  92  Fridge          1.417          0.0            2.101          0              0              0
  93  Window          -0.486         1.452          3.302          90             0              0
  94  SinkBasin       -0.063         0.765          -1.713         0              270            0
  95  Microwave       1.422          1.150          0.022          0              270            0
  96  Toaster         -2.066         0.900          -1.848         0              0              0
  97  Stool           -1.994         0.010          0.882          0              0              0
  98  Faucet          -0.096         1.041          -1.867         0              270            0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn to your left and go to the counter to the right of the stove.  | STEP 2: Pick up the butter knife, close to the edge of the counter, and to the left of the fork, on the counter.  | STEP 3: Turn to your left and walk to the counter across from you.  | STEP 4: Cut the tomato in the very back, on the counter, into slices.  | STEP 5: Place the knife on the back counter, to the left of the tomato.  | STEP 6: Pick up the right end, tomato slice on the counter.  | STEP 7: Turn around and go to the open sink to your left.  | STEP 8: Place the tomato slice in the sink, turn the water on, rinse the tomato, turn the water off, and remove the tomato from the sink.  | STEP 9: Turn around and go towards the wall at the end of the kitchen, turning to your right at the refrigerator, then walk to the garbage can on the floor, between the refrigerator and the counter.  | STEP 10: Place the tomato in the garbage can, on the floor.  | END