Task: Place a chilled piece of tomato into the recycling bin in the corner.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.930          0.75           0              180            0
   1  Potato          0.773          0.924          -1.503         0              0              0              111
   2  Ladle           -0.991         0.743          -0.273         0              90             0              72
   3  Glassbottle     1.303          1.675          -1.480         0              0              0              56
   4  Kettle          -0.420         0.902          -0.920         0              135            0              60
   5  Pot             -0.935         0.900          0.846          0              0              0              65
   6  Pot             1.098          0.911          0.747          0              270            0              96
   7  Spoon           -0.136         0.901          -1.393         0              45             0              86
   8  Spoon           3.028          0.748          0.032          0              180            0              110
   9  Fork            2.966          0.901          -0.798         0              0              0              64
  10  Fork            3.029          0.713          -0.454         0              180            0              61
  11  CellPhone       2.947          0.709          0.761          0              180            0              87
  12  CellPhone       -0.786         0.515          1.168          0              0              0              53
  13  Mug             -1.119         0.992          1.258          0              180            0              113
  14  Lettuce         0.716          0.976          0.135          0              36.810         0              96
  15  PepperShaker    -0.991         0.127          0.076          0              0              0              85
  16  PepperShaker    -0.731         0.324          -0.707         0              45             0              88
  17  Bowl            0.778          0.905          0.332          0              36.810         0              96
  18  Bowl            0.354          1.256          -1.707         0              0              0              81
  19  Tomato          3.355          0.937          -0.499         0              0              0              64
  20  Tomato          0.156          0.937          -1.379         0              45             0              86
  21  Egg             -1.011         0.952          -0.825         0              45             0              65
  22  Cup             3.355          0.898          -0.798         0              0              0              64
  23  Plate           3.141          0.188          -0.404         0              0              0              76
  24  Knife           -0.007         0.925          -1.728         0              135            0              86
  25  Knife           3.122          0.926          -0.599         0              0              0              64
  26  Plate           3.028          0.190          0.700          0              0              0              74
  27  Glassbottle     3.069          0.748          -0.100         0              90             0              110
  28  SoapBottle      3.181          0.110          1.6            0              225            0              106
  29  Potato          0.622          0.949          0.727          0              0              0              96
  30  Fork            0.491          0.911          0.181          0              36.810         0              96
  31  Ladle           3.244          1.501          -1.235         0              0              0              79
  32  Pot             -1.008         0.900          0.399          0              270            0              65
  33  Kettle          3.070          0.748          0.231          0              90             0              110
  34  Spatula         -0.745         0.721          0.926          0              270            0              69
  35  Knife           0.059          0.925          -1.383         0              45             0              86
  36  Lettuce         0.840          0.765          -1.422         27.470         0              0              111
  37  Cup             0.836          0.905          0.747          0              0              0              96
  38  SaltShaker      -0.909         0.322          1.693          0              0              0              100
  39  Egg             -1.085         1.050          1.364          0              90             0              113
  40  PepperShaker    1.208          1.671          -1.759         0              0              0              56
  41  ButterKnife     -0.868         0.130          -0.273         0              0              0              85
  42  Apple           -0.935         0.974          -0.047         0              0              0              65
  43  Pan             0.341          0.873          -1.649         0              167.065        0              86
  44  Bread           1.534          0.972          0.486          0              289.287        0              96
  45  CellPhone       0.439          0.908          0.342          0              36.810         0              96
  46  DishSponge      -0.909         0.706          -0.273         0              0              0              72
  47  Tomato          -0.647         0.937          -0.780         0              45             0              65
  48  Spoon           0.100          0.901          -1.528         0              225            0              86
  49  Bowl            2.976          1.461          -1.599         0              0              0              63
  50  Mug             1.242          0.881          -1.448         0              0              0              111
  51  Drawer          0.376          0.572          -1.509         0              0              0
  52  Drawer          3.020          0.769          -0.783         0              180            0
  53  Drawer          -0.860         0.577          1.429          0              0              0
  54  StoveBurner     -0.600         0.897          -1.090         0              135            0
  55  Drawer          0.376          0.191          -1.509         0              0              0
  56  Cabinet         1.402          1.874          -1.259         0              0              0
  57  Cabinet         -0.202         1.963          -1.328         0              0              0
  58  Drawer          -0.860         0.765          1.429          0              0              0
  59  Drawer          -0.677         0.765          -0.700         0              0              0
  60  StoveBurner     -0.420         0.897          -0.920         0              135            0
  61  Drawer          3.020          0.769          -0.407         0              180            0
  62  Drawer          -0.860         0.577          0.663          0              0              0
  63  Cabinet         2.819          1.768          -1.850         0              0              0
  64  CounterTop      3.111          0.936          0.019          0              0              0
  65  CounterTop      -1.007         0.935          -0.039         0              0              0
  66  Drawer          -0.860         0.385          0.663          0              0              0
  67  StoveBurner     -0.419         0.897          -1.269         0              315            0
  68  Drawer          -0.047         0.573          -1.324         0              0              0
  69  Drawer          -0.860         0.765          0.663          0              0              0
  70  Drawer          -0.860         0.385          -0.100         0              0              0
  71  Drawer          0.376          0.380          -1.509         0              0              0
  72  Drawer          -0.860         0.765          -0.100         0              0              0
  73  Drawer          0.376          0.765          -1.509         0              0              0
  74  Cabinet         2.849          0.419          0.409          0              0              0
  75  Drawer          -0.047         0.765          -1.324         0              0              0
  76  Cabinet         2.849          0.419          -0.610         0              0              0
  77  Cabinet         2.849          0.419          -0.959         0              0              0
  78  Cabinet         3.069          1.666          -0.709         0              0              0
  79  Cabinet         2.819          1.768          -1.047         0              0              0
  80  Cabinet         0.620          1.874          -1.259         0              0              0
  81  Cabinet         0.140          1.666          -1.559         0              0              0
  82  Cabinet         -0.189         1.666          -1.340         0              0              0
  83  Cabinet         -0.709         1.963          -0.819         0              0              0
  84  Cabinet         -0.920         1.665          -0.620         0              0              0
  85  Drawer          -0.860         0.190          -0.100         0              0              0
  86  CounterTop      0.133          0.935          -1.457         0              0              0
  87  Drawer          3.020          0.769          0.695          0              180            0
  88  Drawer          -0.677         0.577          -0.700         0              0              0
  89  Drawer          -0.860         0.190          1.429          0              0              0
  90  Drawer          -0.047         0.192          -1.324         0              0              0
  91  Drawer          -0.677         0.193          -0.700         0              0              0
  92  Drawer          -0.860         0.577          -0.100         0              0              0
  93  Sink            3.078          0.887          0.086          0              0              0
  94  StoveBurner     -0.239         0.897          -1.089         0              315            0
  95  Drawer          -0.860         0.190          0.663          0              0              0
  96  CounterTop      1.210          0.937          0.463          0              0              0
  97  Drawer          -0.047         0.381          -1.324         0              0              0
  98  Drawer          -0.677         0.387          -0.700         0              0              0
  99  Mirror          -1.295         1.630          0.045          0              0              0
 100  Drawer          -0.860         0.385          1.429          0              0              0
 101  HousePlant      3.196          0.891          -0.368         0              0              0
 102  StoveKnob       -0.090         0.790          -1.009         270            45             0
 103  StoveKnob       -0.280         0.790          -0.819         270            45             0
 104  StoveKnob       -0.180         0.790          -0.920         270            45             0
 105  StoveKnob       -0.370         0.790          -0.720         270            45             0
 106  GarbageCan      3.137          0.025          1.545          0              225            0
 107  Window          3.703          1.675          0.046          90             90             0
 108  CoffeeMachine   3.214          0.890          0.697          0              270            0
 109  LightSwitch     2.592          1.309          -1.880         0              0              0
 110  SinkBasin       3.069          0.736          0.108          0              90             0
 111  Fridge          1.008          0.029          -1.467         0              0              0
 112  Toaster         -1.035         0.873          -0.396         0              90             0
 113  Microwave       -1.034         0.874          1.428          0              90             0
 114  Faucet          3.305          0.886          0.094          270            180            0
 115  NorthWall
 116  EastWall
 117  SouthWall
 118  WestWall

Plan:
STEP 1: Walk to the counter to the right of the sink. | STEP 2: Pick up the yellow knife from the counter. | STEP 3: Cut up the tomato to the right of the plant. | STEP 4: Place the knife on top of the fork on the counter. | STEP 5: Pick up a piece of tomato. | STEP 6: Turn around and walk to the fridge. | STEP 7: Chill the piece of tomato in the fridge and then pick the piece of tomato up from the fridge. | STEP 8: Turn around and walk to the blue recycling bin in the corner. | STEP 9: Place the piece of tomato in the blue recycling bin. | END