Task: Put a frozen tomato in to garbage bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          -0.5           0              0              0
   1  Potato          -2.538         0.947          1.230          0              0              0              70
   2  DishSponge      1.145          0.770          -1.376         0              225            0              80
   3  Kettle          1.494          0.911          -0.841         0              45             0              52
   4  Kettle          -0.211         0.911          1.317          0              0              0              42
   5  Fork            -2.372         0.911          0.331          0              0              0              59
   6  Spoon           -2.289         0.912          0.031          0              0              0              70
   7  Spoon           -2.257         0.774          1.417          0              90             0              73
   8  Spatula         -2.318         0.789          1.465          0              270            0              73
   9  Pot             1.411          0.929          0.064          0              0              0              71
  10  Egg             -2.570         1.028          2.380          0              90             0              82
  11  Plate           -0.471         0.913          1.764          0              0              0              42
  12  Knife           1.364          0.945          -1.088         0              225            0              56
  13  Knife           -2.348         0.799          -0.073         0              90             0              60
  14  Tomato          1.604          0.227          0.651          0              0              0              81
  15  Lettuce         -2.621         0.994          1.530          0              0              0              70
  16  Bread           -2.372         0.996          1.530          0              0              0              70
  17  Apple           -0.730         0.972          0.870          0              0              0              42
  18  Apple           0.737          0.972          -1.403         0              45             0              52
  19  Pan             1.412          0.929          -0.335         0              0              0              43
  20  Knife           -0.211         0.936          0.423          0              0              0              42
  21  Apple           0.195          0.972          -1.539         0              0              0              52
  22  Bowl            -2.485         1.297          -0.979         0              90             0              74
  23  Fork            1.598          0.911          0.465          0              0              0              51
  24  Bread           -0.081         0.996          1.764          0              0              0              42
  25  Plate           -2.538         0.913          0.631          0              0              0              70
  26  Egg             1.221          0.949          -1.161         0              225            0              56
  27  Kettle          0.854          0.900          -1.790         0              0              0              52
  28  Potato          -2.603         1.051          2.481          0              90             0              82
  29  SaltShaker      -0.211         0.905          0.647          0              0              0              42
  30  Lettuce         -2.485         1.172          -0.696         0              90             0              74
  31  Cup             -0.601         0.908          1.094          0              0              0              42
  32  SoapBottle      -2.638         1.539          1.912          0              0              0              54
  33  Spatula         -0.601         0.925          1.540          0              0              0              42
  34  PaperTowelRoll  1.739          1.015          -0.865         0              0              0              52
  35  ButterKnife     -0.471         0.910          0.423          0              0              0              42
  36  PepperShaker    1.771          1.651          0.165          0              0              0              61
  37  DishSponge      -2.484         1.583          -1.631         0              180            0              69
  38  Pot             1.691          0.929          -0.335         0              0              0              50
  39  Spoon           1.291          0.922          -1.231         0              225            0              56
  40  Tomato          -0.341         0.953          0.423          0              0              0              42
  41  Mug             -0.730         0.905          0.423          0              0              0              42
  42  CounterTop      -0.360         0.946          1.093          0              0              0
  43  StoveBurner     1.412          0.923          -0.335         0              0              0
  44  StoveKnob       1.878          1.093          0.018          287.989        90             0
  45  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  46  Cabinet         -2.446         1.948          2.924          0              0              0
  47  Drawer          -2.276         0.792          0.902          0              0              0
  48  Cabinet         -2.145         0.402          1.578          0              0              0
  49  Cabinet         0.149          2.008          -1.603         0              90             0
  50  StoveBurner     1.691          0.923          -0.335         0              0              0
  51  CounterTop      1.585          0.946          0.405          0              0              0
  52  CounterTop      0.474          0.946          -1.625         0              0              0
  53  StoveBurner     1.691          0.923          0.064          0              0              0
  54  Cabinet         -2.446         1.948          1.687          0              0              0
  55  Cabinet         -2.446         1.948          1.640          0              0              0
  56  Sink            1.381          0.810          -1.271         0              225            0
  57  StoveKnob       1.878          1.093          0.150          287.989        90             0
  58  Cabinet         -2.145         0.402          -0.236         0              0              0
  59  Drawer          -2.276         0.792          0.437          0              0              0
  60  Drawer          -2.276         0.792          -0.027         0              0              0
  61  Cabinet         1.572          2.008          0.474          0              0              0
  62  Cabinet         1.572          2.008          -0.775         0              0              0
  63  Cabinet         -2.445         2.148          -1.275         0              0              0
  64  Cabinet         -2.446         2.148          -0.284         0              0              0
  65  Cabinet         -2.446         1.948          0.355          0              0              0
  66  Cabinet         -2.446         1.948          0.405          0              0              0
  67  Cabinet         -2.145         0.402          0.644          0              0              0
  68  Cabinet         -2.145         0.402          0.695          0              0              0
  69  Cabinet         -2.285         1.968          -1.325         0              180            0
  70  CounterTop      -1.485         0.946          1.319          0              0              0
  71  StoveBurner     1.411          0.923          0.064          0              0              0
  72  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  73  Drawer          -2.276         0.792          1.368          0              0              0
  74  Fridge          -2.475         0.0            -0.782         0              90             0
  75  LightSwitch     -0.929         1.350          -1.950         0              0              0
  76  Toaster         -2.564         0.900          1.876          0              90             0
  77  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  78  Window          1.508          1.534          -1.496         90             135            0
  79  Window          1.973          1.521          1.121          90             90             0
  80  SinkBasin       1.149          0.753          -1.380         0              225            0
  81  GarbageCan      1.646          -0.000         0.679          0              0              0
  82  Microwave       -2.580         0.900          2.440          0              90             0
  83  Stool           0.439          0.010          0.747          0              0              0
  84  Stool           -2.303         0.010          1.839          0              0              0
  85  Faucet          1.235          1.138          -1.473         0              225            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn to your right and go past the kitchen island, then turn to your left and go to the garbage bin on the floor, past the counter, on your right.  | STEP 2: Pull out the tomato that is in the garbage bin on the floor.  | STEP 3: Turn to your right and go to the stove, then turn to your right again and go across the kitchen to the refrigerator.  | STEP 4: Place the tomato on the on the bottom shelf of the refrigerator, to the right of the lettuce, in the freezer, wait a moment for the tomato to freeze, then remove the tomato from the freezer.  | STEP 5: Turn around and go across the kitchen to the refrigerator, then turn left and go past the counter on your right, to the garbage bin on the floor to your right.  | STEP 6: Put the tomato back in the garbage bin.  | END