Task: Putting a slice of tomato in the trash

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          -0.5           0              180            0
   1  Kettle          -0.267         0.913          -1.654         0              0              0              45
   2  Pan             1.361          0.962          0.294          0              180            0              40
   3  DishSponge      -0.544         0.911          -1.820         0              0              0              45
   4  Fork            0.167          0.912          0.375          0              0              0              44
   5  Fork            0.377          0.783          -1.648         0              270            0              68
   6  Cup             -2.065         0.950          0.165          0              90             0              78
   7  Plate           0.504          0.111          0.308          0              0              0              56
   8  Plate           -2.614         0.953          0.345          0              90             0              78
   9  Knife           0.035          0.937          0.623          0              180            0              44
  10  Knife           0.701          0.944          -1.649         0              270            0              43
  11  Bowl            -1.791         0.951          0.614          0              90             0              78
  12  Bread           -2.065         1.035          0.435          0              90             0              78
  13  Mug             1.724          0.907          0.292          0              0              0              60
  14  Apple           -1.027         1.082          -1.704         0              0              0              67
  15  Apple           1.535          0.979          -1.820         0              0              0              45
  16  Bread           1.299          0.978          -1.532         0              0              0              45
  17  Knife           -2.065         0.977          0.524          0              90             0              78
  18  Fork            1.846          0.912          0.458          0              0              0              60
  19  Bowl            -2.047         0.510          -1.763         0              0              0              75
  20  Kettle          1.361          0.962          0.561          0              270            0              50
  21  Cup             0.271          0.107          -1.584         0              180            0              42
  22  Tomato          1.167          0.961          -1.489         0              0              0              45
  23  SoapBottle      -1.791         0.950          0.255          0              90             0              78
  24  Plate           1.781          0.913          -1.571         0              0              0              45
  25  Pot             1.007          0.962          0.561          0              270            0              47
  26  Spatula         -0.175         0.927          -1.820         0              180            0              45
  27  PaperTowelRoll  1.846          1.016          0.540          0              0              0              60
  28  Egg             0.804          0.954          -1.782         0              270            0              43
  29  Lettuce         1.535          1.002          -1.571         0              90             0              45
  30  SaltShaker      0.564          0.908          0.209          0              0              0              44
  31  PepperShaker    -0.175         0.908          -1.406         0              0              0              45
  32  Apple           -2.31          1.559          -1.849         0              0              0              75
  33  ButterKnife     -2.340         0.952          0.435          0              90             0              78
  34  Potato          -0.096         0.942          0.375          0              0              0              44
  35  Pan             1.535          1.328          -1.809         0              270            0              61
  36  DishSponge      -2.340         0.951          0.345          0              90             0              78
  37  Spoon           -2.614         0.953          0.614          0              90             0              78
  38  Mug             -0.096         0.907          0.292          0              0              0              44
  39  Cabinet         -0.193         1.688          -1.648         0              180            0
  40  StoveBurner     1.360          0.957          0.293          0              180            0
  41  Drawer          0.499          0.792          0.296          0              0              0
  42  Cabinet         0.095          0.400          -1.352         0              180            0
  43  Sink            0.711          0.817          -1.772         0              270            0
  44  CounterTop      0.280          0.947          0.458          0              0              0
  45  CounterTop      -0.680         0.947          -1.654         0              0              0
  46  Drawer          1.825          0.792          0.296          0              0              0
  47  StoveBurner     1.007          0.957          0.561          0              270            0
  48  Drawer          -0.150         0.792          -1.496         0              0              0
  49  Drawer          -0.586         0.792          -1.496         0              0              0
  50  StoveBurner     1.360          0.957          0.561          0              270            0
  51  Drawer          0.024          0.792          0.296          0              0              0
  52  Cabinet         1.079          0.400          -1.349         0              180            0
  53  Cabinet         1.669          0.402          0.151          0              0              0
  54  Cabinet         0.055          0.402          -1.351         0              0              0
  55  Cabinet         -0.180         0.402          0.151          0              0              0
  56  Cabinet         0.729          0.402          0.151          0              0              0
  57  StoveBurner     1.007          0.957          0.293          0              180            0
  58  Drawer          -1.100         0.792          -1.496         0              0              0
  59  Cabinet         -0.396         0.402          -1.351         0              0              0
  60  CounterTop      1.776          0.947          0.458          0              0              0
  61  Cabinet         1.974          1.688          -1.648         0              180            0
  62  Cabinet         -0.820         0.400          -1.349         0              180            0
  63  Toaster         0.305          0.900          0.552          0              180            0
  64  LightSwitch     -2.756         1.307          -0.987         0              90             0
  65  Window          0.582          1.613          -1.967         90             0              0
  66  Window          1.969          1.5            -0.615         90             270            0
  67  Microwave       -1.037         0.900          -1.723         0              0              0
  68  SinkBasin       0.377          0.765          -1.655         0              270            0
  69  CoffeeMachine   0.618          0.900          0.600          0              180            0
  70  StoveKnob       1.246          0.913          0.118          45             180            0
  71  StoveKnob       1.373          0.913          0.118          45             180            0
  72  StoveKnob       0.995          0.913          0.118          45             180            0
  73  StoveKnob       1.126          0.913          0.118          45             180            0
  74  GarbageCan      -0.368         -0.029         0.539          0              90             0
  75  Fridge          -2.134         0.0            -1.690         0              0              0
  76  Faucet          0.549          1.046          -1.833         0              232.527        0
  77  Stool           -1.475         0.000          0.414          1.233          280.375        0
  78  DiningTable     -2.255         -0.004         0.432          0              0              0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn left and go to the counter on the left next to the trash can | STEP 2: Pick up the knife on the counter | STEP 3: Turn around and go to the counter to the right of the sink | STEP 4: Slice the tomato to the right of the bread | STEP 5: Back up and move slightly to the right | STEP 6: Open the cabinet, put the knife in the cabinet and then close the cabinet  | STEP 7: Go forward towards the counter | STEP 8: Pick up slice of tomato | STEP 9: Turn right and go the microwave on the left | STEP 10: Open microwave, put the slice of tomato inside, close the door, turn microwave on, wait, open door and remove tomato slice | STEP 11: Turn around and go to the trash can | STEP 12: Put the slice of tomato in the trash | END