Task: Place a chilled slice of tomato in the bin

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           0.901          -3.0           0              0              0
   1  Pan             -0.165         0.975          -2.450         0              0              0              68
   2  Spatula         -2.581         0.728          -0.621         0              180            0              80
   3  Spatula         -3.292         0.731          -0.433         0              270            0              80
   4  Spoon           -3.079         0.714          -0.886         0              225            0              80
   5  Fork            -1.845         0.791          -3.747         0              0              0              78
   6  Cup             -1.660         0.083          -3.673         0              0              0              52
   7  Cup             -0.450         0.082          -3.317         0              0              0              37
   8  Plate           -3.079         1.011          -2.125         0              90             0              77
   9  Knife           -0.530         0.778          -3.024         0              90             0              66
  10  Knife           -0.039         0.946          -3.952         0              90             0              36
  11  Bowl            -0.447         0.911          -3.878         0              90             0              36
  12  PepperShaker    -2.740         0.713          -0.638         0              0              0              80
  13  Lettuce         -3.346         1.001          -3.655         0              0              0              36
  14  Mug             -2.620         0.711          -0.339         0              225            0              80
  15  Pot             -2.836         0.903          -3.745         0              92.628         0              36
  16  Egg             -0.158         1.048          -0.851         0              270            0              73
  17  Cup             -3.056         0.914          -3.327         0              0              0              36
  18  Bread           -0.327         0.948          -3.681         0              298.222        0              36
  19  Fork            -3.155         0.717          -0.383         0              225            0              80
  20  Pan             -0.095         0.914          -1.432         0              90             0              63
  21  Potato          -1.914         0.834          -3.832         0              0              0              78
  22  Lettuce         -0.328         1.001          -3.012         0              0              0              36
  23  Tomato          -0.253         0.129          -0.029         0              270            0              75
  24  Apple           -0.076         0.956          -3.112         0              0              0              36
  25  SoapBottle      -3.288         1.291          -3.032         0              0              0              48
  26  Spatula         -0.412         0.761          -3.079         0              90             0              66
  27  SaltShaker      -0.412         0.742          -1.641         0              0              0              59
  28  Knife           -3.167         0.946          -3.655         0              0              0              36
  29  PepperShaker    -0.500         0.743          -1.563         0              0              0              59
  30  ButterKnife     -3.292         0.713          -0.433         0              270            0              80
  31  Plate           -3.130         1.397          -2.125         0              90             0              77
  32  DishSponge      -2.740         0.716          -0.069         0              0              0              80
  33  Spoon           -3.167         0.914          -3.952         0              0              0              36
  34  Mug             -2.930         0.762          -0.358         0              135            0              76
  35  Bowl            -2.439         0.714          -0.433         0              270            0              80
  36  CounterTop      -1.789         0.949          -3.803         0              0              0
  37  Cabinet         -0.577         0.388          -3.476         0              0              0
  38  Cabinet         -0.605         0.388          -3.511         0              0              0
  39  Cabinet         -2.976         0.388          -3.201         0              0              0
  40  Cabinet         -0.577         0.388          -0.447         0              0              0
  41  Cabinet         -0.577         0.388          -1.725         0              0              0
  42  Cabinet         -0.226         1.803          -1.743         0              0              0
  43  Cabinet         -0.228         1.799          -0.447         0              0              0
  44  Cabinet         -6.010         1.139          -6.019         0              0              0
  45  Cabinet         -3.022         2.098          -2.681         0              0              0
  46  Cabinet         -3.022         2.098          -1.743         0              0              0
  47  Cabinet         -0.577         0.388          -2.736         0              0              0
  48  Cabinet         -3.232         1.803          -3.343         0              0              0
  49  Cabinet         -2.811         1.810          -3.764         0              0              0
  50  Cabinet         -1.233         1.810          -3.764         0              0              0
  51  Cabinet         -1.364         0.388          -3.511         0              0              0
  52  Cabinet         -1.380         0.388          -3.511         0              0              0
  53  Cabinet         -0.226         1.803          -2.725         0              0              0
  54  Cabinet         -0.236         2.098          -1.767         0              0              0
  55  Cabinet         -0.236         2.098          -2.705         0              0              0
  56  Cabinet         -0.193         1.210          -4.239         0              0              0
  57  Cabinet         -2.148         0.388          -3.511         0              0              0
  58  Drawer          -3.104         0.797          -2.968         0              0              0
  59  Drawer          -0.449         0.797          -1.410         0              0              0
  60  Sink            -1.786         0.902          -3.748         0              0              0
  61  StoveBurner     -0.376         0.936          -2.451         0              0              0
  62  Drawer          -0.449         0.797          -0.762         0              0              0
  63  CounterTop      -0.268         0.951          -1.089         0              0              0
  64  Drawer          -0.449         0.797          -3.348         0              0              0
  65  StoveBurner     -0.376         0.936          -2.031         0              180            0
  66  Drawer          -0.449         0.797          -2.968         0              0              0
  67  StoveBurner     -0.165         0.936          -2.030         0              180            0
  68  StoveBurner     -0.165         0.936          -2.450         0              0              0
  69  StoveKnob       -0.568         0.903          -2.313         45             270            0
  70  StoveKnob       -0.568         0.903          -2.470         45             270            0
  71  StoveKnob       -0.568         0.903          -2.166         45             270            0
  72  StoveKnob       -0.568         0.903          -2.003         45             270            0
  73  Microwave       -0.143         0.903          -0.908         0              270            0
  74  LightSwitch     -1.108         1.457          0.338          0              180            0
  75  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  76  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  77  Fridge          -3.188         0.0            -2.184         0              0              0
  78  SinkBasin       -1.786         0.779          -3.747         0              0              0
  79  Toaster         -0.230         0.903          -3.406         0              270            0
  80  DiningTable     -2.800         0.003          -0.505         0              0              0
  81  Chair           -3.044         0.003          -1.223         0              32.194         0
  82  Faucet          -1.791         1.136          -3.913         0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn left, turn right, go past the sink to the counter across the room | STEP 2: Pick up the knife with yellow handle | STEP 3: Turn around to go to the opposite end of the room toward a gray bin with a tomato | STEP 4: Aim the knife at the tomato | STEP 5: Strike the tomato with knife | STEP 6: Pick up a slice of tomato from the bin | STEP 7: Take the slice of the tomato to the fridge | STEP 8: Open the fridge, put the tomato slice on the tray, close the fridge, wait for a few seconds, and take the slice out of the fridge | STEP 9: Go back to the gray bin | STEP 10: Put the slice of the tomato in the bin | END