Task: trash a cold tomato slice

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.930          -1.0           0              180            0
   1  Ladle           -1.015         0.937          -0.719         0              135            0              53
   2  Ladle           -0.868         0.555          -0.186         0              0              0              80
   3  DishSponge      -0.950         0.706          0.751          0              0              0              57
   4  DishSponge      2.987          0.746          0.165          0              90             0              98
   5  ButterKnife     -0.601         0.900          -0.625         0              45             0              53
   6  ButterKnife     -0.868         0.326          1.518          0              0              0              88
   7  Fork            0.608          0.908          0.337          0              36.810         0              84
   8  CellPhone       0.156          0.897          -1.379         0              45             0              74
   9  CellPhone       3.070          0.710          -0.863         0              180            0              40
  10  Bread           1.360          0.986          0.747          0              0              0              84
  11  Lettuce         0.710          0.976          0.727          0              0              0              84
  12  Bowl            0.445          0.905          0.527          0              0              0              84
  13  Egg             0.967          0.960          0.605          0              0              0              84
  14  Plate           3.141          0.188          -0.786         0              0              0              65
  15  Glassbottle     3.084          0.176          -0.307         0              0              0              64
  16  SoapBottle      3.198          0.184          -0.259         0              0              0              64
  17  Potato          -1.052         1.036          1.205          0              90             0              101
  18  Fork            0.100          0.900          -1.528         0              135            0              74
  19  Ladle           0.533          0.947          0.827          0              0              0              84
  20  Pot             -0.420         0.902          -0.920         0              135            0              48
  21  Kettle          -0.419         0.902          -1.269         0              315            0              55
  22  Spatula         0.533          0.923          0.527          0              180            0              84
  23  Knife           0.947          0.933          0.327          0              126.810        0              84
  24  Lettuce         -0.717         0.965          -0.270         0              0              0              53
  25  Cup             -1.018         0.995          1.364          0              90             0              101
  26  SaltShaker      3.315          1.460          -1.088         0              0              0              67
  27  Egg             -0.985         1.050          1.523          0              90             0              101
  28  PepperShaker    -1.080         0.896          0.399          0              0              0              53
  29  ButterKnife     0.110          0.900          -1.332         0              45             0              74
  30  Apple           0.533          0.984          0.727          0              0              0              84
  31  Pan             0.341          0.873          -1.649         0              167.065        0              74
  32  Bread           0.798          0.986          0.426          0              0              0              84
  33  CellPhone       -0.862         0.897          0.399          0              0              0              53
  34  DishSponge      0.285          0.320          -1.556         0              0              0              59
  35  Tomato          0.101          0.937          -1.731         0              0              0              74
  36  Spoon           3.277          0.901          -0.499         0              0              0              52
  37  Bowl            2.966          0.897          -0.499         0              0              0              52
  38  Mug             3.049          0.966          0.591          0              270            0              96
  39  Drawer          0.376          0.572          -1.509         0              0              0
  40  Drawer          3.020          0.769          -0.783         0              180            0
  41  Drawer          -0.860         0.577          1.429          0              0              0
  42  StoveBurner     -0.600         0.897          -1.090         0              135            0
  43  Drawer          0.376          0.191          -1.509         0              0              0
  44  Cabinet         1.402          1.874          -1.259         0              0              0
  45  Cabinet         -0.202         1.963          -1.328         0              0              0
  46  Drawer          -0.860         0.765          1.429          0              0              0
  47  Drawer          -0.677         0.765          -0.700         0              0              0
  48  StoveBurner     -0.420         0.897          -0.920         0              135            0
  49  Drawer          3.020          0.769          -0.407         0              180            0
  50  Drawer          -0.860         0.577          0.663          0              0              0
  51  Cabinet         2.819          1.768          -1.850         0              0              0
  52  CounterTop      3.111          0.936          0.019          0              0              0
  53  CounterTop      -1.007         0.935          -0.039         0              0              0
  54  Drawer          -0.860         0.385          0.663          0              0              0
  55  StoveBurner     -0.419         0.897          -1.269         0              315            0
  56  Drawer          -0.047         0.573          -1.324         0              0              0
  57  Drawer          -0.860         0.765          0.663          0              0              0
  58  Drawer          -0.860         0.385          -0.100         0              0              0
  59  Drawer          0.376          0.380          -1.509         0              0              0
  60  Drawer          -0.860         0.765          -0.100         0              0              0
  61  Drawer          0.376          0.765          -1.509         0              0              0
  62  Cabinet         2.849          0.419          0.409          0              0              0
  63  Drawer          -0.047         0.765          -1.324         0              0              0
  64  Cabinet         2.849          0.419          -0.610         0              0              0
  65  Cabinet         2.849          0.419          -0.959         0              0              0
  66  Cabinet         3.069          1.666          -0.709         0              0              0
  67  Cabinet         2.819          1.768          -1.047         0              0              0
  68  Cabinet         0.620          1.874          -1.259         0              0              0
  69  Cabinet         0.140          1.666          -1.559         0              0              0
  70  Cabinet         -0.189         1.666          -1.340         0              0              0
  71  Cabinet         -0.709         1.963          -0.819         0              0              0
  72  Cabinet         -0.920         1.665          -0.620         0              0              0
  73  Drawer          -0.860         0.190          -0.100         0              0              0
  74  CounterTop      0.133          0.935          -1.457         0              0              0
  75  Drawer          3.020          0.769          0.695          0              180            0
  76  Drawer          -0.677         0.577          -0.700         0              0              0
  77  Drawer          -0.860         0.190          1.429          0              0              0
  78  Drawer          -0.047         0.192          -1.324         0              0              0
  79  Drawer          -0.677         0.193          -0.700         0              0              0
  80  Drawer          -0.860         0.577          -0.100         0              0              0
  81  Sink            3.078          0.887          0.086          0              0              0
  82  StoveBurner     -0.239         0.897          -1.089         0              315            0
  83  Drawer          -0.860         0.190          0.663          0              0              0
  84  CounterTop      1.210          0.937          0.463          0              0              0
  85  Drawer          -0.047         0.381          -1.324         0              0              0
  86  Drawer          -0.677         0.387          -0.700         0              0              0
  87  Mirror          -1.295         1.630          0.045          0              0              0
  88  Drawer          -0.860         0.385          1.429          0              0              0
  89  HousePlant      3.196          0.891          -0.368         0              0              0
  90  StoveKnob       -0.090         0.790          -1.009         270            45             0
  91  StoveKnob       -0.280         0.790          -0.819         270            45             0
  92  StoveKnob       -0.180         0.790          -0.920         270            45             0
  93  StoveKnob       -0.370         0.790          -0.720         270            45             0
  94  GarbageCan      3.137          0.025          1.545          0              225            0
  95  Window          3.703          1.675          0.046          90             90             0
  96  CoffeeMachine   3.214          0.890          0.697          0              270            0
  97  LightSwitch     2.592          1.309          -1.880         0              0              0
  98  SinkBasin       3.069          0.736          0.108          0              90             0
  99  Fridge          1.008          0.029          -1.467         0              0              0
 100  Toaster         -1.035         0.873          -0.396         0              90             0
 101  Microwave       -1.034         0.874          1.428          0              90             0
 102  Faucet          3.305          0.886          0.094          270            180            0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: turn around towards the center table | STEP 2: pick up the knife on the table | STEP 3: turn around and head for the table | STEP 4: slice the tomato on the table | STEP 5: turn left and head for the fridge | STEP 6: place the knife inside the fridge | STEP 7: turn right towards the table | STEP 8: pick up a slice from the table | STEP 9: move left towards the fridge  | STEP 10: place the tomato to cool and then take it out | STEP 11: turn around and head for the bin | STEP 12: trash the tomato in it | END