Task: Putting a tomato slice in the trash can

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          0.5            0              180            0
   1  Potato          1.917          0.978          0.806          0              0              0              62
   2  Ladle           -0.425         0.835          1.049          0              270            0              78
   3  ButterKnife     0.060          0.937          2.618          0              0              0              51
   4  Spatula         1.012          0.810          2.584          0              90             0              75
   5  Spatula         1.954          0.760          1.922          0              90             0              66
   6  Spoon           0.002          0.747          1.925          0              0              0              50
   7  Spoon           1.941          0.746          0.721          0              0              0              60
   8  Fork            0.002          0.747          2.129          0              0              0              50
   9  Cup             -0.282         0.935          2.478          0              0              0              51
  10  Cup             -0.349         0.789          0.377          0              0              0              78
  11  Plate           2.164          0.606          -0.369         0              270            0              72
  12  SoapBottle      -0.425         0.791          1.217          0              0              0              78
  13  Tomato          -0.119         0.837          0.545          0              0              0              78
  14  SaltShaker      2.203          1.498          0.755          0              0              0              59
  15  PepperShaker    1.840          0.933          0.361          0              0              0              62
  16  Lettuce         2.179          1.580          -0.460         0              270            0              72
  17  Mug             -0.041         0.932          2.399          0              0              0              51
  18  Apple           0.033          0.840          1.217          0              0              0              78
  19  Apple           -0.042         0.840          0.377          0              0              0              78
  20  Egg             -0.053         0.980          2.897          0              0              0              51
  21  Lettuce         -0.196         0.852          1.217          0              0              0              78
  22  Fork            1.815          0.747          2.060          0              90             0              66
  23  SoapBottle      0.033          0.791          0.713          0              0              0              78
  24  Ladle           -0.041         0.125          1.993          0              0              0              45
  25  Ladle           -0.096         0.942          2.546          6.870          45             340.408        51
  26  Bread           -0.199         0.823          0.813          0              0              0              78
  27  SaltShaker      -0.053         0.932          2.688          0              0              0              51
  28  Potato          -0.328         1.075          2.014          0              270            0              76
  29  Pan             2.140          0.935          1.106          0              0              0              53
  30  WineBottle      2.301          0.939          0.806          0              0              0              62
  31  Spatula         1.884          0.761          1.991          0              90             0              66
  32  Knife           -0.349         0.816          1.386          0              180            0              78
  33  Tomato          1.844          0.983          1.866          0              0              0              51
  34  Apple           -0.261         1.085          1.907          0              90             0              76
  35  ButterKnife     1.917          0.938          0.583          0              180            0              62
  36  Pot             1.854          0.937          1.497          0              0              0              55
  37  PepperShaker    1.840          0.933          0.657          0              0              0              62
  38  Cup             2.168          1.319          -0.550         0              270            0              72
  39  DishSponge      1.298          0.080          2.601          0              0              0              57
  40  Plate           0.566          0.085          2.523          0              0              0              58
  41  Spoon           0.629          0.796          2.584          0              0              0              75
  42  Mug             2.127          1.498          0.478          0              270            0              49
  43  Bowl            1.884          0.079          0.653          0              0              0              48
  44  Cabinet         2.041          2.113          2.618          0              0              0
  45  Cabinet         0.126          0.388          1.774          0              0              0
  46  StoveBurner     2.140          0.929          1.504          0              180            0
  47  Cabinet         1.760          0.388          2.346          0              0              0
  48  Cabinet         1.760          0.388          0.869          0              0              0
  49  Cabinet         2.041          1.810          0.283          0              0              0
  50  Drawer          -0.024         0.774          2.061          0              0              0
  51  CounterTop      1.065          0.973          2.666          0              0              0
  52  Cabinet         1.969          2.113          2.618          0              0              0
  53  StoveBurner     2.140          0.929          1.106          0              0              0
  54  Cabinet         2.041          2.113          1.809          0              0              0
  55  StoveBurner     1.866          0.929          1.504          0              180            0
  56  Cabinet         2.041          2.113          1.766          0              0              0
  57  Cabinet         1.514          0.388          2.360          0              0              0
  58  Cabinet         0.351          0.388          2.360          0              0              0
  59  Cabinet         2.041          1.810          0.872          0              0              0
  60  Drawer          2.167          0.774          0.582          0              0              0
  61  Cabinet         2.041          2.113          0.892          0              0              0
  62  CounterTop      2.060          0.973          0.583          0              0              0
  63  Sink            0.935          0.936          2.646          0              0              0
  64  Curtains        0.964          2.061          2.989          0              0              0
  65  StoveBurner     1.863          0.929          1.106          0              0              0
  66  Drawer          1.911          0.774          2.060          0              0              0
  67  StoveKnob       2.326          1.092          1.610          288.013        90             0
  68  StoveKnob       2.326          1.092          1.460          288.013        90             0
  69  StoveKnob       2.326          1.092          1.210          288.013        90             0
  70  StoveKnob       2.326          1.092          1.050          288.013        90             0
  71  Toaster         2.126          0.926          0.572          0              270            0
  72  Fridge          2.104          0.0            -0.279         0              270            0
  73  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  74  LightSwitch     0.354          1.518          -1.031         0              0              0
  75  SinkBasin       0.903          0.784          2.640          0              0              0
  76  Microwave       -0.310         0.926          2.077          0              90             0
  77  CoffeeMachine   2.084          0.927          2.667          0              225            0
  78  DiningTable     -0.153         -0.000         1.073          0              270            0
  79  Faucet          1.175          0.926          2.950          270            90             0
  80  Faucet          0.686          0.926          2.950          270            90             0
  81  Chair           -0.077         0.002          0.196          0              15.000         0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn around and go to the sink | STEP 2: Grab the knife on the counter to the left of the sink | STEP 3: Head to the counter to the right of you | STEP 4: Cut the tomato into slices | STEP 5: Turn to the left and face the counter | STEP 6: Place the knife on the counter | STEP 7: Turn to the right and face the counter | STEP 8: Grab one of the slices of tomato | STEP 9: Turn around and head to the microwave | STEP 10: Heat the tomato in the microwave and then take it out | STEP 11: Turn left and head to the trash can | STEP 12: Put the tomato in the trash can | END