Task: Put a knife and two slices of bread in a garbage can.

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           0.899          4.0            0              270            0
   1  Pan             -0.401         1.070          3.726          0              180            0              106
   2  Pencil          -4.095         0.745          4.735          0              90             0              80
   3  Pencil          -3.712         0.068          6.292          0              270            0              99
   4  Fork            -3.979         0.924          2.965          0              90             0              73
   5  Fork            -2.109         0.924          1.875          0              270            0              55
   6  Spoon           -4.377         0.924          1.648          0              0              0              73
   7  Spatula         -1.777         0.938          1.8            0              0              0              55
   8  Plate           -0.259         1.581          3.228          0              270            0              106
   9  Plate           -0.181         0.925          4.944          0              0              0              58
  10  Knife           -0.334         0.954          5.273          0              0              0              58
  11  Knife           -1.777         0.953          1.648          0              90             0              55
  12  SoapBottle      -4.242         0.923          2.300          0              0              0              73
  13  SoapBottle      -1.829         1.452          1.703          0              180            0              92
  14  Bowl            -0.454         1.067          3.231          0              270            0              106
  15  PepperShaker    -0.503         0.742          4.849          0              270            0              63
  16  PepperShaker    -4.123         0.080          3.220          0              0              0              86
  17  Lettuce         -4.196         0.886          3.285          0              270            0              105
  18  Bread           -0.565         1.004          5.603          0              0              0              58
  19  Bread           -1.693         1.003          1.8            0              0              0              55
  20  Mug             -0.301         1.680          3.975          0              270            0              106
  21  Apple           -3.639         0.122          6.416          0              270            0              99
  22  Apple           -0.411         0.978          4.944          0              0              0              58
  23  Egg             -0.181         0.960          5.932          0              0              0              58
  24  Apple           -3.748         0.122          6.416          0              270            0              99
  25  Knife           -4.184         0.953          4.640          0              270            0              73
  26  Potato          -0.242         1.104          3.231          0              270            0              106
  27  Fork            -4.159         0.791          3.472          0              0              0              105
  28  Bowl            -0.301         1.577          3.470          0              270            0              106
  29  Plate           -4.184         0.924          4.122          0              90             0              73
  30  Lettuce         -4.312         1.018          2.766          0              0              0              73
  31  Bread           -0.401         1.150          3.479          0              270            0              106
  32  Tomato          -0.411         0.982          5.603          0              0              0              58
  33  WineBottle      -1.860         0.924          1.573          0              0              0              55
  34  Spatula         -1.943         0.938          2.026          0              0              0              55
  35  PaperTowelRoll  -1.943         1.027          1.875          0              0              0              55
  36  Cup             -3.613         0.922          5.182          0              90             0              73
  37  Pencil          -3.798         0.746          1.985          0              0              0              50
  38  Pan             -2.924         0.930          1.712          0              180            0              70
  39  Pot             -4.335         0.924          5.159          0              180            0              73
  40  SaltShaker      -3.925         1.455          5.511          0              90             0              77
  41  SoapBottle      -4.244         0.077          4.813          0              90             0              66
  42  PepperShaker    -0.104         0.921          5.932          0              0              0              58
  43  ButterKnife     -4.204         0.923          1.799          0              0              0              73
  44  DishSponge      -1.860         0.923          1.951          0              0              0              55
  45  Spoon           -4.159         0.792          3.222          0              270            0              105
  46  Mug             -3.525         1.448          1.573          0              0              0              47
  47  Cabinet         -3.203         1.931          1.777          0              0              0
  48  Cabinet         -3.187         0.390          2.089          0              0              0
  49  Cabinet         -0.637         0.387          6.882          0              180            0
  50  Drawer          -3.797         0.781          1.961          0              0              0
  51  Cabinet         -3.036         0.387          5.029          0              90             0
  52  Drawer          -0.509         0.775          5.268          0              270            0
  53  Drawer          -4.125         0.798          2.499          0              0              0
  54  Cabinet         -0.331         2.249          4.308          0              180            0
  55  CounterTop      -1.872         0.958          1.799          0              0              0
  56  StoveBurner     -2.924         0.924          2.012          0              0              0
  57  Cabinet         -0.331         2.249          6.806          0              180            0
  58  CounterTop      -0.345         0.960          5.603          0              0              0
  59  Cabinet         -3.039         1.935          5.321          0              90             0
  60  Cabinet         -3.922         0.397          2.088          0              0              0
  61  StoveBurner     -2.467         0.924          2.012          0              0              0
  62  Cabinet         -0.331         2.249          5.505          0              180            0
  63  Drawer          -0.509         0.775          4.617          0              270            0
  64  Drawer          -3.509         0.777          5.157          0              180            0
  65  Cabinet         -3.961         0.388          2.878          0              0              0
  66  Cabinet         -3.961         0.388          4.342          0              0              0
  67  Cabinet         -0.637         0.387          5.582          0              180            0
  68  Cabinet         -0.637         0.388          4.299          0              180            0
  69  Cabinet         -0.637         0.388          5.599          0              180            0
  70  StoveBurner     -2.924         0.924          1.712          0              180            0
  71  Drawer          -1.859         0.775          1.961          0              0              0
  72  Cabinet         -0.331         2.249          5.609          0              180            0
  73  CounterTop      -4.260         0.958          4.943          0              90             0
  74  Cabinet         -4.284         1.931          2.226          0              0              0
  75  Cabinet         -0.331         2.249          3.010          0              180            0
  76  Drawer          -3.801         0.777          5.157          0              180            0
  77  Cabinet         -4.112         1.935          5.321          0              90             0
  78  Cabinet         -3.968         0.388          3.662          0              0              0
  79  Drawer          -3.418         0.777          1.961          0              0              0
  80  Drawer          -4.090         0.777          4.661          0              90             0
  81  Faucet          -4.441         0.909          3.288          270            0              0
  82  Cabinet         -0.331         2.249          4.207          0              180            0
  83  Cabinet         -3.961         0.388          2.119          0              0              0
  84  Drawer          -0.509         0.775          5.920          0              270            0
  85  Drawer          -3.193         0.777          5.157          0              180            0
  86  Cabinet         -3.968         0.388          2.894          0              0              0
  87  Cabinet         -3.667         0.387          5.029          0              90             0
  88  StoveBurner     -2.469         0.924          1.712          0              270            0
  89  Cabinet         -1.539         0.388          2.090          0              0              0
  90  Sink            -4.190         0.921          3.279          0              0              0
  91  Cabinet         -3.641         0.387          5.029          0              90             0
  92  Cabinet         -1.583         1.931          1.777          0              0              0
  93  Drawer          -0.509         0.775          6.568          0              270            0
  94  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  95  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  96  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  97  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  98  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  99  GarbageCan      -3.711         -0.030         6.376          0              270            0
 100  Toaster         -3.578         0.912          1.763          0              0              0
 101  Curtains        -4.522         2.252          3.391          90             90             0
 102  Window          -4.868         1.629          3.309          90             270            0
 103  Microwave       -2.693         1.430          1.689          0              0              0
 104  LightSwitch     -1.588         1.169          1.506          0              0              0
 105  SinkBasin       -4.196         0.780          3.276          0              270            0
 106  Fridge          -0.324         -0.001         3.602          0              0              0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: Turn to the left, go forward to the counter on the right where the yellow handled knife is.  | STEP 2: Pick up the knife from the counter. | STEP 3: Use the knife to cut the bread into slices.  | STEP 4: Turn to the right, go forward to the counter on the right where the bread and tomato are.  | STEP 5: Use the knife to cut the bread into slices.  | STEP 6: Turn to the left, go forward to the wall, turn to the left, go forward to the garbage can.  | STEP 7: Put the knife in to the garbage can. | STEP 8: Turn around, go forward, go to the right, go forward, hang a left and go to the counter where the bread and tomato are.  | STEP 9: Pick up a slice of bread from the counter.  | STEP 10: Turn to the left, go forward to the wall, turn to the left, go forward to the garbage can.  | STEP 11: Put the bread in to the garbage can.  | STEP 12: Turn around, go forward to the counter, turn to the right, go forward to the counter on the right where the bread is.  | STEP 13: Pick up a slice of bread from the counter.  | STEP 14: Turn to the right, go forward to the wall, turn to the left, go forward to the garbage can.  | STEP 15: Put the bread in to the garbage can.  | END