Task: Place a cooked slice of a tomato in a waste basket

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.901          -0.75          0              0              0
   1  WineBottle      -0.078         0.082          2.129          0              0              0              48
   2  WineBottle      -0.263         0.038          -0.769         0              90             0              76
   3  DishSponge      1.872          0.746          0.721          0              0              0              63
   4  DishSponge      0.032          0.080          2.129          0              0              0              61
   5  ButterKnife     -0.349         0.791          1.049          0              0              0              81
   6  Spatula         -0.425         0.805          0.713          0              90             0              81
   7  Spatula         -0.053         0.952          2.478          0              180            0              54
   8  Spoon           1.919          0.747          2.197          0              0              0              69
   9  Fork            -0.119         0.791          0.545          0              270            0              81
  10  Cup             -0.395         1.034          2.068          0              90             0              79
  11  Cup             1.276          0.793          2.64           0              0              0              78
  12  Plate           1.925          0.086          2.057          0              0              0              50
  13  Knife           1.850          0.772          2.197          0              270            0              69
  14  Knife           -0.042         0.816          1.386          0              0              0              81
  15  Tomato          2.207          0.648          -0.550         0              270            0              75
  16  Tomato          2.231          1.565          -0.550         0              270            0              75
  17  Tomato          0.174          0.983          2.897          0              0              0              54
  18  Bowl            2.168          1.318          -0.278         0              270            0              75
  19  SaltShaker      2.225          0.933          0.806          0              0              0              65
  20  PepperShaker    1.994          0.933          0.361          0              0              0              65
  21  PepperShaker    2.206          1.496          2.057          0              0              0              57
  22  Lettuce         -0.042         0.852          0.545          0              0              0              81
  23  Egg             2.076          1.561          -0.550         0              270            0              75
  24  Lettuce         0.033          0.852          0.881          0              0              0              81
  25  Fork            -0.042         0.791          1.049          0              0              0              81
  26  SoapBottle      1.227          0.082          2.445          0              0              0              60
  27  Ladle           1.369          0.125          2.523          0              0              0              60
  28  Ladle           -0.096         0.942          2.546          6.888          45             340.409        54
  29  Bread           -0.199         0.823          0.813          0              0              0              81
  30  SaltShaker      -0.349         0.785          0.713          0              0              0              81
  31  Potato          1.276          0.835          2.529          0              270            0              78
  32  Pan             2.140          0.935          1.504          0              180            0              49
  33  WineBottle      2.244          1.502          2.425          0              0              0              47
  34  Spatula         -0.349         0.805          1.217          0              180            0              81
  35  Knife           1.815          0.771          2.060          0              90             0              69
  36  Tomato          0.033          0.837          1.049          0              0              0              81
  37  Apple           -0.395         1.085          1.907          0              90             0              79
  38  ButterKnife     1.997          0.937          1.964          0              0              0              54
  39  Pot             1.854          0.937          1.497          0              0              0              58
  40  PepperShaker    1.805          1.498          2.881          0              0              0              55
  41  Cup             -0.396         0.935          2.688          0              0              0              54
  42  DishSponge      1.954          0.746          2.060          0              0              0              69
  43  Plate           -0.312         0.781          0.409          0              0              0              81
  44  Spoon           -0.272         0.792          1.386          0              0              0              81
  45  Mug             2.064          0.989          2.462          0              225            0              80
  46  Bowl            2.241          1.500          0.695          0              0              0              62
  47  Cabinet         2.041          2.113          2.618          0              0              0
  48  Cabinet         0.126          0.388          1.774          0              0              0
  49  StoveBurner     2.140          0.929          1.504          0              180            0
  50  Cabinet         1.760          0.388          2.346          0              0              0
  51  Cabinet         1.760          0.388          0.869          0              0              0
  52  Cabinet         2.041          1.810          0.283          0              0              0
  53  Drawer          -0.024         0.774          2.061          0              0              0
  54  CounterTop      1.065          0.973          2.666          0              0              0
  55  Cabinet         1.969          2.113          2.618          0              0              0
  56  StoveBurner     2.140          0.929          1.106          0              0              0
  57  Cabinet         2.041          2.113          1.809          0              0              0
  58  StoveBurner     1.866          0.929          1.504          0              180            0
  59  Cabinet         2.041          2.113          1.766          0              0              0
  60  Cabinet         1.514          0.388          2.360          0              0              0
  61  Cabinet         0.351          0.388          2.360          0              0              0
  62  Cabinet         2.041          1.810          0.872          0              0              0
  63  Drawer          2.167          0.774          0.582          0              0              0
  64  Cabinet         2.041          2.113          0.892          0              0              0
  65  CounterTop      2.060          0.973          0.583          0              0              0
  66  Sink            0.935          0.936          2.646          0              0              0
  67  Curtains        0.964          2.061          2.989          0              0              0
  68  StoveBurner     1.863          0.929          1.106          0              0              0
  69  Drawer          1.911          0.774          2.060          0              0              0
  70  StoveKnob       2.326          1.092          1.610          288.013        90             0
  71  StoveKnob       2.326          1.092          1.460          288.013        90             0
  72  StoveKnob       2.326          1.092          1.210          288.013        90             0
  73  StoveKnob       2.326          1.092          1.050          288.013        90             0
  74  Toaster         2.126          0.926          0.572          0              270            0
  75  Fridge          2.104          0.0            -0.279         0              270            0
  76  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  77  LightSwitch     0.354          1.518          -1.031         0              0              0
  78  SinkBasin       0.903          0.784          2.640          0              0              0
  79  Microwave       -0.310         0.926          2.077          0              90             0
  80  CoffeeMachine   2.084          0.927          2.667          0              225            0
  81  DiningTable     -0.153         -0.000         1.073          0              270            0
  82  Faucet          1.175          0.926          2.950          270            90             0
  83  Faucet          0.686          0.926          2.950          270            90             0
  84  Chair           -0.077         0.002          0.196          0              15.000         0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: take a few steps forward and turn to the right and take a step and turn to the left and take a few steps forward and turn to the left facing the table | STEP 2: pick up the back knife from the table | STEP 3: look at the tomato on the table | STEP 4: slice the tomato that is on the table with the knife | STEP 5: turn to the right twice and take a step | STEP 6: open the bottom cabinet door right of the oven and put in the knife and close the door | STEP 7: turn to the right twice and take a step to the table | STEP 8: pick up a slice of tomato from the table | STEP 9: turn to the right and go to the counter and turn to the left facing the microwave | STEP 10: open the microwave and put the tomato slice in it and cook it and take out the tomato slice | STEP 11: turn to the left twice and take a step and turn right and go to the door and turn to the right | STEP 12: put the tomato slice in the waste basket | END