Task: Put a knife and cold 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           1.75           0.900          1.25           0              0              0
   1  Ladle           0.384          1.703          -2.162         0              0              0              49
   2  Ladle           -0.047         0.975          1.448          0              0              0              77
   3  DishSponge      0.180          0.930          0.076          0              0              0              77
   4  ButterKnife     -0.668         0.913          -2.134         0              0              0              60
   5  WineBottle      -0.160         0.927          0.305          0              0              0              77
   6  Spatula         0.921          0.928          -2.002         0              180            0              60
   7  Spatula         1.647          0.928          -1.797         0              90             0              60
   8  Spoon           0.180          0.928          1.220          0              0              0              77
   9  Spoon           0.294          0.931          0.762          0              0              0              77
  10  Cup             0.408          0.927          0.305          0              0              0              77
  11  Cup             0.408          0.927          0.762          0              0              0              77
  12  Plate           1.773          0.556          2.431          0              0              0              80
  13  Knife           0.294          0.950          0.534          0              0              0              77
  14  Tomato          -0.283         0.816          -1.936         0              0              0              72
  15  SaltShaker      -0.346         0.909          -1.737         0              0              0              60
  16  Bread           -0.047         0.975          0.991          0              0              0              77
  17  Apple           -1.317         1.086          -1.846         0              90             0              66
  18  Apple           -0.047         0.997          0.305          0              0              0              77
  19  Potato          -0.047         0.959          0.762          0              0              0              77
  20  Bowl            -0.657         0.108          -1.829         0              0              0              53
  21  SoapBottle      0.180          0.925          1.448          0              0              0              77
  22  Fork            -0.963         0.914          -2.224         0              90             0              60
  23  Ladle           -0.047         0.971          0.076          0              0              0              77
  24  Bread           -0.047         0.972          0.534          0              0              0              77
  25  Lettuce         0.522          1.008          1.220          0              0              0              77
  26  WineBottle      0.235          0.914          -1.725         0              0              0              60
  27  Spatula         0.294          0.941          0.991          0              0              0              77
  28  Plate           -1.495         1.187          -0.495         0              90             0              68
  29  SaltShaker      0.563          1.655          -2.200         0              0              0              49
  30  Pot             1.567          0.948          -0.757         0              0              0              42
  31  Cup             1.738          0.913          -1.680         0              0              0              60
  32  PepperShaker    1.738          0.909          -1.212         0              0              0              60
  33  Pan             1.824          0.945          -0.346         0              0              0              41
  34  ButterKnife     0.408          0.930          0.991          0              0              0              77
  35  Tomato          0.294          0.978          1.220          0              0              0              77
  36  DishSponge      1.872          0.086          0.160          0              0              0              61
  37  Egg             0.066          0.984          0.762          0              0              0              77
  38  Spoon           0.522          0.931          0.305          0              0              0              77
  39  Knife           -0.137         0.787          -2.026         0              0              0              72
  40  Mug             -1.186         1.010          -1.638         0              0              0              66
  41  StoveBurner     1.845          0.940          -0.355         0              0              0
  42  StoveBurner     1.567          0.940          -0.757         0              0              0
  43  Cabinet         -1.149         2.019          -1.979         0              90             0
  44  Cabinet         -1.149         2.265          -0.834         0              90             0
  45  Cabinet         -0.459         2.265          -2.0           0              0              0
  46  Cabinet         -1.100         2.019          -2.0           0              0              0
  47  Cabinet         1.719          2.019          -2.0           0              0              0
  48  Cabinet         1.179          2.019          -2.0           0              0              0
  49  Cabinet         0.199          2.019          -2.0           0              0              0
  50  Cabinet         1.75           2.019          -1.399         0              270            0
  51  Cabinet         1.75           2.019          -1.029         0              270            0
  52  Cabinet         1.379          0.469          -1.689         0              0              0
  53  Cabinet         -0.819         0.469          -1.689         0              0              0
  54  Cabinet         1.389          0.469          -1.059         0              270            0
  55  Cabinet         -0.839         0.469          -1.665         0              90             0
  56  StoveBurner     1.567          0.940          -0.355         0              0              0
  57  StoveBurner     1.845          0.940          -0.757         0              0              0
  58  Sink            -0.109         0.893          -2.009         0              0              0
  59  Drawer          -0.819         0.75           -1.690         0              0              0
  60  CounterTop      0.232          0.949          -2.002         0              0              0
  61  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  62  Vase            0.251          0.546          0.475          0              270            0
  63  Toaster         0.780          0.900          -2.080         0              0              0
  64  LightSwitch     0.108          1.315          2.75           0              180            0
  65  Vase            0.400          0.925          0.218          0              180            0
  66  Microwave       -1.233         0.900          -1.680         0              90             0
  67  Vase            1.465          1.662          -2.200         0              0              0
  68  Fridge          -1.495         0.0            -0.703         0              0              0
  69  Window          2.114          1.495          1.072          90             270            0
  70  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  71  Vase            0.333          0.546          1.272          0              270            0
  72  SinkBasin       -0.148         0.753          -2.026         0              0              0
  73  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  74  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  75  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  77  DiningTable     0.170          0.005          0.678          0              270            0
  78  Shelf           0.170          0.155          0.678          0              270            0
  79  Shelf           1.605          0.172          2.480          0              0              0
  80  Shelf           1.605          0.552          2.480          0              0              0
  81  Shelf           1.604          0.880          2.479          0              0              0
  82  ShelvingUnit    1.605          0.006          2.480          0              0              0
  83  Faucet          -0.143         1.028          -2.223         0              270            0
  84  Stool           -0.553         0.000          0.871          1.233          280.376        0
  85  Shelf           0.170          0.528          0.678          0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Back up, turn to the left, go forward, turn to the left, go forward to the garbage can, turn right and go to the table where the glasses are. | STEP 2: Pick up the yellow handled knife that is on the table.  | STEP 3: Turn to the left, go around the table to the other side, turn to the table where the bread and bottle of wine is.  | STEP 4: Cut the bread just to the left of the wine into slices. | STEP 5: Turn to the right, go around to the other side of the table, turn to the right to the garbage can.  | STEP 6: Put the knife in to the garbage can.  | STEP 7: Turn around and go forward, turn to the left, go around to the other side of the table where the sliced bread is.  | STEP 8: Pick up a slice of bread from the table.  | STEP 9: Turn to the right, go forward to the fridge on the right.  | STEP 10: Put the bread inside the fridge and close the door, remove the cold bread from the fridge and close the door.  | STEP 11: Turn around and go forward to the stove, go to the left and turn right to face the garbage can. | STEP 12: Put the bread in to the garbage can. | END