Task: Place a slice of tomato into the trash.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          3.25           0              270            0
   1  Pan             -0.968         1.441          -0.406         0              180            0              98
   2  Pan             -0.794         1.027          1.943          0              270            0              57
   3  Potato          1.895          1.903          -1.775         0              270            0              100
   4  Potato          -0.577         0.858          1.259          0              90             0              111
   5  DishSponge      2.650          0.034          0.168          0              0              0              81
   6  ButterKnife     -0.645         0.816          1.414          0              90             0              111
   7  ButterKnife     2.959          1.026          -1.456         0              0              0              54
   8  WineBottle      2.976          0.765          3.747          0              270            0              55
   9  WineBottle      2.975          0.765          4.118          0              270            0              55
  10  Spoon           2.569          0.802          0.889          0              227.0          0              66
  11  Fork            2.698          0.765          3.688          0              329.999        0              55
  12  Egg             -1.171         1.071          2.556          0              0              0              57
  13  Cup             1.895          1.859          -1.876         0              0              0              100
  14  Cup             2.893          0.763          4.307          0              225            0              55
  15  Knife           2.076          0.827          1.422          0              47.0           0              68
  16  Knife           2.875          1.052          -1.456         0              90             0              54
  17  SoapBottle      2.008          0.763          3.632          0              225            0              55
  18  SaltShaker      -1.130         1.023          1.243          0              0              0              57
  19  SaltShaker      2.875          1.023          -0.541         0              0              0              54
  20  PepperShaker    2.822          0.028          -1.074         0              0              0              96
  21  Bread           1.290          1.094          -1.454         0              90             0              54
  22  Lettuce         -0.851         0.874          1.259          0              90             0              111
  23  Mug             -0.987         0.781          -0.627         0              90             0              98
  24  Apple           -0.544         1.077          2.189          0              0              0              57
  25  Apple           -0.544         1.077          0.323          0              0              0              57
  26  Pan             1.761          1.027          -1.599         0              0              0              97
  27  Glassbottle     2.724          0.033          -0.791         0              0              0              95
  28  Knife           2.487          0.789          4.203          0              329.999        0              55
  29  SoapBottle      2.737          0.031          -1.074         0              0              0              96
  30  Egg             -1.069         0.830          -0.184         0              90             0              98
  31  Fork            1.230          1.027          -1.881         0              90             0              54
  32  Potato          -0.997         0.119          2.811          0              0              0              109
  33  Ladle           2.976          0.803          3.895          0              270            0              55
  34  Tomato          1.953          1.080          1.998          0              136.999        0              54
  35  Pot             2.177          1.027          -1.599         0              0              0              53
  36  WineBottle      -0.629         0.048          2.519          0              0              0              74
  37  Plate           2.706          1.027          -0.236         0              0              0              54
  38  Spatula         2.518          0.816          0.652          0              47.0           0              66
  39  PaperTowelRoll  2.046          0.868          4.372          0              329.999        0              55
  40  Lettuce         -0.544         1.085          0.692          0              0              0              57
  41  Apple           2.626          0.814          4.044          0              270            0              55
  42  SaltShaker      2.555          0.760          3.865          0              225            0              55
  43  PepperShaker    2.276          0.760          3.895          0              270            0              55
  44  ButterKnife     2.959          1.026          -0.236         0              0              0              54
  45  Bread           2.414          0.832          3.736          0              329.999        0              55
  46  Cup             2.106          1.859          -1.843         0              0              0              100
  47  DishSponge      2.533          0.764          3.381          0              329.999        0              55
  48  Bowl            -0.899         1.762          0.351          0              0              0              89
  49  Spoon           2.621          1.028          -0.846         0              0              0              54
  50  Mug             2.386          0.759          3.932          0              329.999        0              55
  51  Sink            -0.716         1.023          1.333          0              0              0
  52  StoveBurner     1.835          1.018          -1.840         0              90             0
  53  StoveBurner     2.177          1.018          -1.599         0              0              0
  54  CounterTop      2.812          0.992          0.675          0              0              0
  55  DiningTable     2.419          0.003          3.930          0              0              0
  56  Drawer          -0.643         0.828          0.616          0              0              0
  57  CounterTop      -0.813         1.062          2.188          0              0              0
  58  StoveBurner     2.115          1.018          -1.840         0              270            0
  59  Drawer          -0.643         0.831          1.953          0              0              0
  60  Drawer          -0.643         0.833          2.418          0              0              0
  61  Drawer          1.347          0.836          -1.539         0              0              0
  62  Drawer          2.693          0.833          -1.131         0              0              0
  63  Drawer          2.693          0.833          -0.699         0              0              0
  64  Drawer          2.693          0.833          -0.267         0              0              0
  65  Drawer          2.693          0.833          0.163          0              0              0
  66  Drawer          2.524          0.833          0.720          0              2.000          0
  67  Drawer          2.232          0.833          1.036          0              2.000          0
  68  Drawer          1.936          0.833          1.354          0              2.000          0
  69  Drawer          1.646          0.833          1.670          0              2.000          0
  70  Cabinet         1.504          2.475          -1.710         0              0              0
  71  Cabinet         -0.823         2.220          1.621          0              0              0
  72  Cabinet         -0.823         2.220          0.615          0              0              0
  73  Cabinet         1.136          0.388          -1.355         0              0              0
  74  Cabinet         -0.356         0.383          2.626          0              0              0
  75  Cabinet         2.745          2.220          -1.690         0              0              0
  76  Cabinet         1.882          0.383          1.017          0              0              0
  77  Cabinet         1.307          0.473          1.640          0              0              0
  78  Cabinet         1.892          0.383          1.006          0              0              0
  79  Cabinet         2.467          0.383          0.383          0              0              0
  80  Cabinet         2.466          0.383          -0.475         0              0              0
  81  Cabinet         2.466          0.473          0.371          0              0              0
  82  Cabinet         2.386          2.475          -1.710         0              0              0
  83  Cabinet         -0.356         0.383          1.712          0              0              0
  84  Cabinet         2.745          2.220          0.019          0              0              0
  85  Cabinet         -0.663         2.496          0.157          0              0              0
  86  Cabinet         -0.663         2.496          -0.868         0              0              0
  87  Cabinet         -0.356         0.383          0.269          0              0              0
  88  Cabinet         -0.823         2.220          1.603          0              0              0
  89  Cabinet         -0.662         2.234          0.586          0              0              0
  90  Cabinet         2.745          2.220          -0.843         0              0              0
  91  Cabinet         2.745          2.220          -0.827         0              0              0
  92  Cabinet         -0.823         2.220          2.608          0              0              0
  93  Cabinet         2.732          2.226          -1.709         0              0              0
  94  Cabinet         1.137          2.226          -1.709         0              0              0
  95  Cabinet         2.466          0.383          -0.491         0              0              0
  96  Cabinet         2.466          0.383          -1.339         0              0              0
  97  StoveBurner     1.761          1.018          -1.599         0              0              0
  98  Fridge          -0.908         0.0            -0.405         0              0              0
  99  HousePlant      2.517          1.016          1.822          0              0              0
 100  Microwave       1.939          1.745          -1.826         0              0              0
 101  StoveKnob       2.017          1.041          -1.514         0              180            180
 102  StoveKnob       1.934          1.041          -1.514         0              180            180
 103  StoveKnob       2.017          1.041          -1.589         0              180            180
 104  StoveKnob       1.934          1.041          -1.589         0              180            180
 105  Window          1.756          1.608          4.762          90             0              0
 106  HousePlant      2.171          1.004          2.091          0              0              0
 107  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 108  LightSwitch     -0.099         1.410          -2.066         0              0              0
 109  GarbageCan      -0.951         -0.029         2.826          0              0              0
 110  Toaster         -1.007         1.018          2.238          0              90             0
 111  SinkBasin       -0.714         0.805          1.348          0              90             0
 112  Chair           1.615          0.004          4.310          0              107.976        0
 113  Faucet          -1.120         1.013          1.334          0              90             0
 114  Chair           2.759          0.004          3.086          0              358.967        0
 115
 116  NorthWall
 117  EastWall
 118  SouthWall
 119  WestWall

Plan:
STEP 1: Turn left then walk towards the door, then turn left and walk towards the counter top.  | STEP 2: Pick up the knife that is behind the plate located on the counter top. | STEP 3: Turn around and walk towards the refrigerator, turn right then walk towards the wall, turn right then stand in front of the counter top. | STEP 4: Cut the tomato that is located to the right of the potted plant into slices. | STEP 5: Turn around, turn left then walk towards the door. Turn right then walk towards the refrigerator.   | STEP 6: Open the refrigerator door, place the knife onto the top shelf in front of the white cup, then close the door. | STEP 7: Turn right then walk towards the wall, then hang a right and walk towards the counter top. | STEP 8: Pick up a slice of tomato located to the right of the potted plant on the counter top. | STEP 9: Turn around, turn right, then walk towards the door.  Hang a right then walk towards the refrigerator.   | STEP 10: Open the refrigerator door then place the tomato slice to the right of the knife on the top shelf, then close the door.  Open the door then remove the tomato slice from the top shelf, then close the door. | STEP 11: Turn right then walk towards the wall, turn left, then turn towards the counter top. | STEP 12: Place the slice of tomato into the trash can. | END