Task: Slice a tomato, chill it, and throw it out

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          -0.5           0              0              0
   1  Potato          2.228          0.806          4.495          0              0              0              58
   2  Potato          2.706          1.068          -0.541         0              0              0              57
   3  Ladle           2.046          0.803          4.372          0              59.999         0              58
   4  DishSponge      1.230          1.026          -1.667         0              90             0              57
   5  ButterKnife     -0.731         0.800          1.899          0              0              0              62
   6  WineBottle      -1.059         1.781          2.485          0              0              0              95
   7  Glassbottle     -1.069         0.786          -0.516         0              90             0              101
   8  Glassbottle     -0.858         0.335          -0.073         0              90             0              101
   9  Spatula         -0.519         0.816          1.844          0              90             0              62
  10  Spatula         -0.544         1.042          0.323          0              0              0              60
  11  Spoon           1.350          1.028          -1.987         0              90             0              57
  12  Fork            2.818          0.801          -0.746         0              0              0              66
  13  Fork            2.322          0.765          3.895          0              149.999        0              58
  14  Egg             2.555          0.808          3.865          0              225            0              58
  15  Cup             2.268          0.763          3.892          0              225            0              58
  16  Cup             2.976          0.763          3.821          0              270            0              58
  17  Plate           -0.544         1.027          0.785          0              0              0              60
  18  Plate           2.815          0.033          -0.169         0              0              0              83
  19  Knife           2.138          0.789          3.762          0              225            0              58
  20  Knife           1.833          0.827          1.195          0              47.0           0              71
  21  Tomato          -0.577         0.870          1.492          0              90             0              114
  22  Bowl            2.800          0.762          4.118          0              270            0              58
  23  Bowl            2.875          1.025          0.068          0              0              0              57
  24  SaltShaker      3.043          1.023          -1.456         0              0              0              57
  25  Bread           2.359          0.832          4.129          0              329.999        0              58
  26  Bread           2.649          1.094          1.252          0              136.999        0              57
  27  Apple           -1.171         1.077          1.943          0              0              0              60
  28  Apple           2.975          0.814          4.192          0              270            0              58
  29  Pan             2.042          1.017          1.779          0              0              0              57
  30  Glassbottle     -0.987         0.786          -0.184         0              90             0              101
  31  Knife           2.544          1.052          1.154          0              136.999        0              57
  32  SoapBottle      -0.808         1.762          0.398          0              0              0              92
  33  Egg             -0.794         1.071          2.434          0              0              0              60
  34  Fork            1.230          1.027          -1.987         0              90             0              57
  35  Potato          2.893          0.806          4.307          0              225            0              58
  36  Ladle           3.075          0.071          -1.177         0              90             0              99
  37  Tomato          2.506          0.818          3.577          0              329.999        0              58
  38  Pot             1.761          1.027          -1.599         0              0              0              100
  39  WineBottle      2.074          0.765          4.176          0              329.999        0              58
  40  Plate           -0.542         0.048          2.417          0              0              0              77
  41  Spatula         -0.920         1.042          1.943          0              270            0              60
  42  PaperTowelRoll  -1.102         1.131          1.058          0              0              0              60
  43  Lettuce         2.673          0.822          3.445          0              0              0              58
  44  Apple           -0.645         0.866          1.103          0              90             0              114
  45  SaltShaker      2.426          0.760          3.735          0              225            0              58
  46  PepperShaker    -0.807         2.286          -0.426         0              0              0              89
  47  ButterKnife     2.439          1.026          1.056          0              136.999        0              57
  48  Bread           2.451          0.832          4.495          0              0              0              58
  49  Cup             -0.803         0.046          2.367          0              0              0              77
  50  DishSponge      2.222          2.278          -1.871         0              0              0              85
  51  Bowl            2.101          0.762          3.821          0              270            0              58
  52  Spoon           2.790          1.028          -0.846         0              0              0              57
  53  Mug             2.599          0.759          4.145          0              0              0              118
  54  Sink            -0.716         1.023          1.333          0              0              0
  55  StoveBurner     1.835          1.018          -1.840         0              90             0
  56  StoveBurner     2.177          1.018          -1.599         0              0              0
  57  CounterTop      2.812          0.992          0.675          0              0              0
  58  DiningTable     2.419          0.003          3.930          0              0              0
  59  Drawer          -0.643         0.828          0.616          0              0              0
  60  CounterTop      -0.813         1.062          2.188          0              0              0
  61  StoveBurner     2.115          1.018          -1.840         0              270            0
  62  Drawer          -0.643         0.831          1.953          0              0              0
  63  Drawer          -0.643         0.833          2.418          0              0              0
  64  Drawer          1.347          0.836          -1.539         0              0              0
  65  Drawer          2.693          0.833          -1.131         0              0              0
  66  Drawer          2.693          0.833          -0.699         0              0              0
  67  Drawer          2.693          0.833          -0.267         0              0              0
  68  Drawer          2.693          0.833          0.163          0              0              0
  69  Drawer          2.524          0.833          0.720          0              2.000          0
  70  Drawer          2.232          0.833          1.036          0              2.000          0
  71  Drawer          1.936          0.833          1.354          0              2.000          0
  72  Drawer          1.646          0.833          1.670          0              2.000          0
  73  Cabinet         1.504          2.475          -1.710         0              0              0
  74  Cabinet         -0.823         2.220          1.621          0              0              0
  75  Cabinet         -0.823         2.220          0.615          0              0              0
  76  Cabinet         1.136          0.388          -1.355         0              0              0
  77  Cabinet         -0.356         0.383          2.626          0              0              0
  78  Cabinet         2.745          2.220          -1.690         0              0              0
  79  Cabinet         1.882          0.383          1.017          0              0              0
  80  Cabinet         1.307          0.473          1.640          0              0              0
  81  Cabinet         1.892          0.383          1.006          0              0              0
  82  Cabinet         2.467          0.383          0.383          0              0              0
  83  Cabinet         2.466          0.383          -0.475         0              0              0
  84  Cabinet         2.466          0.473          0.371          0              0              0
  85  Cabinet         2.386          2.475          -1.710         0              0              0
  86  Cabinet         -0.356         0.383          1.712          0              0              0
  87  Cabinet         2.745          2.220          0.019          0              0              0
  88  Cabinet         -0.663         2.496          0.157          0              0              0
  89  Cabinet         -0.663         2.496          -0.868         0              0              0
  90  Cabinet         -0.356         0.383          0.269          0              0              0
  91  Cabinet         -0.823         2.220          1.603          0              0              0
  92  Cabinet         -0.662         2.234          0.586          0              0              0
  93  Cabinet         2.745          2.220          -0.843         0              0              0
  94  Cabinet         2.745          2.220          -0.827         0              0              0
  95  Cabinet         -0.823         2.220          2.608          0              0              0
  96  Cabinet         2.732          2.226          -1.709         0              0              0
  97  Cabinet         1.137          2.226          -1.709         0              0              0
  98  Cabinet         2.466          0.383          -0.491         0              0              0
  99  Cabinet         2.466          0.383          -1.339         0              0              0
 100  StoveBurner     1.761          1.018          -1.599         0              0              0
 101  Fridge          -0.908         0.0            -0.405         0              0              0
 102  HousePlant      2.517          1.016          1.822          0              0              0
 103  Microwave       1.939          1.745          -1.826         0              0              0
 104  StoveKnob       2.017          1.041          -1.514         0              180            180
 105  StoveKnob       1.934          1.041          -1.514         0              180            180
 106  StoveKnob       2.017          1.041          -1.589         0              180            180
 107  StoveKnob       1.934          1.041          -1.589         0              180            180
 108  Window          1.756          1.608          4.762          90             0              0
 109  HousePlant      2.171          1.004          2.091          0              0              0
 110  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 111  LightSwitch     -0.099         1.410          -2.066         0              0              0
 112  GarbageCan      -0.951         -0.029         2.826          0              0              0
 113  Toaster         -1.007         1.018          2.238          0              90             0
 114  SinkBasin       -0.714         0.805          1.348          0              90             0
 115  Chair           1.615          0.004          4.310          0              107.976        0
 116  Faucet          -1.120         1.013          1.334          0              90             0
 117  Chair           2.759          0.004          3.086          0              358.967        0
 118
 119
 120  NorthWall
 121  EastWall
 122  SouthWall
 123  WestWall

Plan:
STEP 1: go straight to the counter  | STEP 2: pick up the knife near the fork with the yellow handle | STEP 3: go straight to the wall and face the white table on the right | STEP 4: slice the tomato behind the lettuce on the table | STEP 5: turn left and go straight to the trash can | STEP 6: throw the knife in the trash can | STEP 7: go back to the white table | STEP 8: pick up a slice of tomato on the table | STEP 9: cut across the kitchen on a diagonal and face the refrigerator | STEP 10: Place the tomato slice on the second shelf from the bottom, close the door, and open the door after a few seconds | STEP 11: turn right, and move straight along the counter top until you reach the trash can | STEP 12: throw the tomato slice in the trash can | END