Task: Drop the chilled  slice tomato in the trash bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.901          -2.5           0              0              0
   1  Pan             -3.309         0.912          -3.327         0              270            0              37
   2  Potato          -1.845         0.834          -3.747         0              0              0              79
   3  Potato          -3.079         1.057          -1.879         0              90             0              78
   4  Fork            -0.419         0.916          -0.524         0              0              0              64
   5  Fork            -3.225         0.914          -2.825         0              0              0              37
   6  Egg             -1.776         0.826          -3.661         0              0              0              79
   7  Egg             -0.338         0.951          -0.507         0              0              0              64
   8  Knife           -0.257         0.948          -1.432         0              0              0              64
   9  Knife           -0.530         0.779          -0.761         0              90             0              63
  10  Tomato          -3.022         0.763          -0.741         0              225            0              81
  11  SaltShaker      -3.111         0.710          -0.652         0              225            0              81
  12  PepperShaker    -2.620         0.713          -0.339         0              225            0              81
  13  Lettuce         -3.079         1.486          -2.064         0              90             0              78
  14  Mug             -3.079         1.393          -1.817         0              180            0              78
  15  Apple           -0.160         0.956          -3.112         0              0              0              37
  16  Pot             -0.165         0.975          -2.030         0              180            0              68
  17  Egg             -2.723         0.749          -0.433         0              270            0              81
  18  Cup             -3.363         1.292          -3.108         0              0              0              37
  19  Bread           -2.853         0.757          -0.684         0              135            0              81
  20  Fork            -3.292         0.714          -0.495         0              270            0              81
  21  Pan             -0.394         0.973          -2.414         0              0              0              62
  22  Potato          -3.393         0.957          -2.926         0              0              0              37
  23  Lettuce         -1.324         0.988          -3.759         1.631          253.771        357.213        37
  24  Tomato          -0.014         0.965          -1.432         0              0              0              64
  25  Apple           -1.569         0.833          -3.747         0              0              0              79
  26  SoapBottle      -0.491         0.080          -1.570         0              0              0              42
  27  Spatula         -3.111         0.761          -2.857         0              270            0              59
  28  SaltShaker      -0.014         0.912          -1.616         0              0              0              64
  29  Knife           -2.629         0.946          -3.729         0              0              0              37
  30  PepperShaker    -0.502         0.742          -3.288         0              0              0              65
  31  ButterKnife     -0.176         0.916          -1.432         0              0              0              64
  32  Plate           -1.058         0.911          -3.804         0              0              0              37
  33  DishSponge      -2.740         0.716          -0.211         0              0              0              81
  34  Spoon           -1.638         0.791          -3.747         0              0              0              79
  35  Mug             -0.065         1.007          -0.950         0              0              0              74
  36  Bowl            -2.588         1.293          -3.888         0              0              0              50
  37  CounterTop      -1.789         0.949          -3.803         0              0              0
  38  Cabinet         -0.577         0.388          -3.476         0              0              0
  39  Cabinet         -0.605         0.388          -3.511         0              0              0
  40  Cabinet         -2.976         0.388          -3.201         0              0              0
  41  Cabinet         -0.577         0.388          -0.447         0              0              0
  42  Cabinet         -0.577         0.388          -1.725         0              0              0
  43  Cabinet         -0.226         1.803          -1.743         0              0              0
  44  Cabinet         -0.228         1.799          -0.447         0              0              0
  45  Cabinet         -6.010         1.139          -6.019         0              0              0
  46  Cabinet         -3.022         2.098          -2.681         0              0              0
  47  Cabinet         -3.022         2.098          -1.743         0              0              0
  48  Cabinet         -0.577         0.388          -2.736         0              0              0
  49  Cabinet         -3.232         1.803          -3.343         0              0              0
  50  Cabinet         -2.811         1.810          -3.764         0              0              0
  51  Cabinet         -1.233         1.810          -3.764         0              0              0
  52  Cabinet         -1.364         0.388          -3.511         0              0              0
  53  Cabinet         -1.380         0.388          -3.511         0              0              0
  54  Cabinet         -0.226         1.803          -2.725         0              0              0
  55  Cabinet         -0.236         2.098          -1.767         0              0              0
  56  Cabinet         -0.236         2.098          -2.705         0              0              0
  57  Cabinet         -0.193         1.210          -4.239         0              0              0
  58  Cabinet         -2.148         0.388          -3.511         0              0              0
  59  Drawer          -3.104         0.797          -2.968         0              0              0
  60  Drawer          -0.449         0.797          -1.410         0              0              0
  61  Sink            -1.786         0.902          -3.748         0              0              0
  62  StoveBurner     -0.376         0.936          -2.451         0              0              0
  63  Drawer          -0.449         0.797          -0.762         0              0              0
  64  CounterTop      -0.268         0.951          -1.089         0              0              0
  65  Drawer          -0.449         0.797          -3.348         0              0              0
  66  StoveBurner     -0.376         0.936          -2.031         0              180            0
  67  Drawer          -0.449         0.797          -2.968         0              0              0
  68  StoveBurner     -0.165         0.936          -2.030         0              180            0
  69  StoveBurner     -0.165         0.936          -2.450         0              0              0
  70  StoveKnob       -0.568         0.903          -2.313         45             270            0
  71  StoveKnob       -0.568         0.903          -2.470         45             270            0
  72  StoveKnob       -0.568         0.903          -2.166         45             270            0
  73  StoveKnob       -0.568         0.903          -2.003         45             270            0
  74  Microwave       -0.143         0.903          -0.908         0              270            0
  75  LightSwitch     -1.108         1.457          0.338          0              180            0
  76  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  77  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  78  Fridge          -3.188         0.0            -2.184         0              0              0
  79  SinkBasin       -1.786         0.779          -3.747         0              0              0
  80  Toaster         -0.230         0.903          -3.406         0              270            0
  81  DiningTable     -2.800         0.003          -0.505         0              0              0
  82  Chair           -3.044         0.003          -1.223         0              32.194         0
  83  Faucet          -1.791         1.136          -3.913         0              270            0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Walk forward then turn right head to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn left head to the round table | STEP 4: Slice the tomato on the table | STEP 5: Turn right and head to the  trash bin on your left | STEP 6: Drop the knife in the trash bin | STEP 7: Turn left head to the left side of the round table | STEP 8: Pick up a slice of tomato | STEP 9: Turn around to your right face the fridge | STEP 10: Open the fridge put in and out the tomato  | STEP 11: Turn right then head to the trash bin | STEP 12: Drop the slice tomato in the trash bin | END