Task: Put a cold slice of bread in a trash bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.901          -1.25          0              0              0
   1  DishSponge      -2.740         0.713          -0.211         0              0              0              81
   2  ButterKnife     -2.765         0.717          -0.596         0              135            0              81
   3  ButterKnife     -2.664         0.717          -0.294         0              135            0              81
   4  Spatula         -2.934         0.731          -0.829         0              315            0              81
   5  Spoon           -0.257         0.917          -0.490         0              0              0              64
   6  Spoon           -0.257         0.917          -1.432         0              0              0              64
   7  Fork            -3.053         0.747          -2.857         0              270            0              59
   8  Fork            -2.439         0.714          -0.558         0              270            0              81
   9  Egg             -0.065         1.048          -0.802         0              270            0              74
  10  Cup             -2.475         0.714          -0.709         0              135            0              81
  11  Plate           -0.411         0.079          -2.853         0              0              0              48
  12  SoapBottle      -0.732         0.081          -3.635         0              0              0              39
  13  SaltShaker      -0.441         0.742          -0.988         0              0              0              63
  14  Bread           -2.753         0.754          -0.785         0              135            0              81
  15  Mug             -2.930         0.763          -0.358         0              135            0              77
  16  Pot             -0.376         0.975          -2.031         0              180            0              66
  17  Egg             -1.569         0.826          -3.704         0              0              0              79
  18  Cup             -1.523         0.083          -3.673         0              0              0              53
  19  Bread           -3.150         0.757          -0.620         0              270            0              81
  20  Fork            -0.419         0.916          -1.432         0              0              0              64
  21  Pan             -0.394         0.973          -2.414         0              0              0              62
  22  Potato          -2.803         0.760          -0.069         0              0              0              81
  23  Lettuce         -1.324         0.988          -3.759         1.537          253.709        356.850        37
  24  Tomato          -3.234         1.063          -1.941         0              90             0              78
  25  Apple           -2.629         0.956          -3.878         0              0              0              37
  26  SoapBottle      -0.160         0.913          -2.811         0              0              0              37
  27  Spatula         -0.338         0.930          -0.490         0              0              0              64
  28  SaltShaker      -0.500         0.743          -0.685         0              0              0              63
  29  Knife           -3.054         0.749          -0.483         0              225            0              81
  30  PepperShaker    -0.014         0.912          -0.507         0              0              0              64
  31  ButterKnife     -0.257         0.916          -1.555         0              0              0              64
  32  Plate           -0.328         0.911          -3.012         0              0              0              37
  33  DishSponge      -1.638         0.790          -3.832         0              0              0              79
  34  Spoon           -3.346         0.914          -3.729         0              0              0              37
  35  Mug             -2.439         0.708          -0.371         0              270            0              81
  36  Bowl            -2.444         1.293          -3.888         0              0              0              50
  37  CounterTop      -1.789         0.949          -3.803         0              0              0
  38  Cabinet         -0.577         0.388          -3.476         0              0              0
  39  Cabinet         -0.605         0.388          -3.511         0              0              0
  40  Cabinet         -2.976         0.388          -3.201         0              0              0
  41  Cabinet         -0.577         0.388          -0.447         0              0              0
  42  Cabinet         -0.577         0.388          -1.725         0              0              0
  43  Cabinet         -0.226         1.803          -1.743         0              0              0
  44  Cabinet         -0.228         1.799          -0.447         0              0              0
  45  Cabinet         -6.010         1.139          -6.019         0              0              0
  46  Cabinet         -3.022         2.098          -2.681         0              0              0
  47  Cabinet         -3.022         2.098          -1.743         0              0              0
  48  Cabinet         -0.577         0.388          -2.736         0              0              0
  49  Cabinet         -3.232         1.803          -3.343         0              0              0
  50  Cabinet         -2.811         1.810          -3.764         0              0              0
  51  Cabinet         -1.233         1.810          -3.764         0              0              0
  52  Cabinet         -1.364         0.388          -3.511         0              0              0
  53  Cabinet         -1.380         0.388          -3.511         0              0              0
  54  Cabinet         -0.226         1.803          -2.725         0              0              0
  55  Cabinet         -0.236         2.098          -1.767         0              0              0
  56  Cabinet         -0.236         2.098          -2.705         0              0              0
  57  Cabinet         -0.193         1.210          -4.239         0              0              0
  58  Cabinet         -2.148         0.388          -3.511         0              0              0
  59  Drawer          -3.104         0.797          -2.968         0              0              0
  60  Drawer          -0.449         0.797          -1.410         0              0              0
  61  Sink            -1.786         0.902          -3.748         0              0              0
  62  StoveBurner     -0.376         0.936          -2.451         0              0              0
  63  Drawer          -0.449         0.797          -0.762         0              0              0
  64  CounterTop      -0.268         0.951          -1.089         0              0              0
  65  Drawer          -0.449         0.797          -3.348         0              0              0
  66  StoveBurner     -0.376         0.936          -2.031         0              180            0
  67  Drawer          -0.449         0.797          -2.968         0              0              0
  68  StoveBurner     -0.165         0.936          -2.030         0              180            0
  69  StoveBurner     -0.165         0.936          -2.450         0              0              0
  70  StoveKnob       -0.568         0.903          -2.313         45             270            0
  71  StoveKnob       -0.568         0.903          -2.470         45             270            0
  72  StoveKnob       -0.568         0.903          -2.166         45             270            0
  73  StoveKnob       -0.568         0.903          -2.003         45             270            0
  74  Microwave       -0.143         0.903          -0.908         0              270            0
  75  LightSwitch     -1.108         1.457          0.338          0              180            0
  76  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  77  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  78  Fridge          -3.188         0.0            -2.184         0              0              0
  79  SinkBasin       -1.786         0.779          -3.747         0              0              0
  80  Toaster         -0.230         0.903          -3.406         0              270            0
  81  DiningTable     -2.800         0.003          -0.505         0              0              0
  82  Chair           -3.044         0.003          -1.223         0              32.194         0
  83  Faucet          -1.791         1.136          -3.913         0              270            0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn left, go forward, turn right to face the round table. | STEP 2: Take the small knife to the right of the bread on the table. | STEP 3: Cut the bread on the right into slices. | STEP 4: Put the knife on the right bread. | STEP 5: Take a slice of bread from the table. | STEP 6: Turn right, go forward a step, turn right, go forward, turn right to the fridge. | STEP 7: Put the bread on the left of the same shelf as the tomato. Close then open the fridge door. Take the bread from the fridge. | STEP 8: Turn right, go forward to the table, turn right, go forward to the counter, turn left, go forward to the wall, turn right, go forward to the trash bin. | STEP 9: Put the bread in the trash bin. | END