Task: Put a chilled slice of bread in the waste basket.

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           0.900          0.5            0              270            0
   1  DishSponge      -0.963         0.913          -2.260         0              0              0              65
   2  DishSponge      -0.160         0.930          0.076          0              0              0              82
   3  ButterKnife     0.180          0.926          0.076          0              0              0              82
   4  Spatula         0.294          0.941          1.220          0              0              0              82
   5  Spatula         -0.047         0.941          0.534          0              0              0              82
   6  Spoon           -0.283         0.765          -2.071         0              0              0              77
   7  Egg             1.872          0.140          0.083          0              0              0              66
   8  Egg             -0.047         0.980          0.991          0              0              0              82
   9  Cup             1.256          0.119          -1.914         0              0              0              57
  10  Cup             -0.160         0.930          0.762          0              0              0              82
  11  Tomato          0.522          0.978          0.534          0              0              0              82
  12  SoapBottle      -0.047         0.925          0.305          0              0              0              82
  13  SoapBottle      1.690          0.119          -1.528         0              270            0              57
  14  Bowl            -0.668         0.910          -2.200         0              0              0              65
  15  Bowl            -0.137         0.761          -2.026         0              90             0              77
  16  Lettuce         -0.160         1.008          0.305          0              0              0              82
  17  SaltShaker      -0.657         0.108          -1.917         0              0              0              58
  18  SaltShaker      -1.109         0.909          -2.188         0              0              0              65
  19  PepperShaker    1.566          0.877          2.429          0              0              0              86
  20  Mug             1.850          0.908          -2.002         0              0              0              65
  21  Apple           -1.317         1.086          -1.846         0              90             0              71
  22  Apple           0.066          0.997          0.762          0              0              0              82
  23  Apple           0.689          0.984          -1.751         0              0              0              65
  24  Potato          0.408          0.959          0.305          0              0              0              82
  25  Bowl            1.359          0.549          2.534          0              0              0              91
  26  SoapBottle      1.877          0.551          2.482          0              0              0              85
  27  Fork            -0.772         0.914          -2.200         0              0              0              65
  28  Ladle           1.738          0.957          -1.446         0              0              0              65
  29  Bread           0.457          0.958          -1.918         0              0              0              65
  30  Lettuce         1.919          0.994          -1.329         0              0              0              65
  31  WineBottle      -0.927         0.914          -2.115         0              0              0              65
  32  Spatula         -0.047         0.945          1.220          0              0              0              82
  33  Plate           1.690          0.123          -1.266         0              270            0              59
  34  SaltShaker      1.647          0.909          -1.446         0              0              0              65
  35  Pot             1.567          0.948          -0.757         0              0              0              47
  36  Cup             1.828          0.913          -1.095         0              0              0              65
  37  PepperShaker    1.828          0.909          -1.563         0              0              0              65
  38  Pan             1.845          0.948          -0.355         0              0              0              46
  39  ButterKnife     0.066          0.930          0.534          0              0              0              82
  40  Tomato          0.379          0.975          0.721          0              0              0              82
  41  DishSponge      2.009          0.913          -1.797         0              0              0              65
  42  Egg             -0.356         0.818          -1.936         0              0              0              77
  43  Spoon           1.557          0.914          -1.329         0              0              0              65
  44  Knife           -0.047         0.950          1.448          0              0              0              82
  45  Mug             1.362          0.875          2.456          0              0              0              92
  46  StoveBurner     1.845          0.940          -0.355         0              0              0
  47  StoveBurner     1.567          0.940          -0.757         0              0              0
  48  Cabinet         -1.149         2.019          -1.979         0              90             0
  49  Cabinet         -1.149         2.265          -0.834         0              90             0
  50  Cabinet         -0.459         2.265          -2.0           0              0              0
  51  Cabinet         -1.100         2.019          -2.0           0              0              0
  52  Cabinet         1.719          2.019          -2.0           0              0              0
  53  Cabinet         1.179          2.019          -2.0           0              0              0
  54  Cabinet         0.199          2.019          -2.0           0              0              0
  55  Cabinet         1.75           2.019          -1.399         0              270            0
  56  Cabinet         1.75           2.019          -1.029         0              270            0
  57  Cabinet         1.379          0.469          -1.689         0              0              0
  58  Cabinet         -0.819         0.469          -1.689         0              0              0
  59  Cabinet         1.389          0.469          -1.059         0              270            0
  60  Cabinet         -0.839         0.469          -1.665         0              90             0
  61  StoveBurner     1.567          0.940          -0.355         0              0              0
  62  StoveBurner     1.845          0.940          -0.757         0              0              0
  63  Sink            -0.109         0.893          -2.009         0              0              0
  64  Drawer          -0.819         0.75           -1.690         0              0              0
  65  CounterTop      0.232          0.949          -2.002         0              0              0
  66  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  67  Vase            0.251          0.546          0.475          0              270            0
  68  Toaster         0.780          0.900          -2.080         0              0              0
  69  LightSwitch     0.108          1.315          2.75           0              180            0
  70  Vase            0.400          0.925          0.218          0              180            0
  71  Microwave       -1.233         0.900          -1.680         0              90             0
  72  Vase            1.465          1.662          -2.200         0              0              0
  73  Fridge          -1.495         0.0            -0.703         0              0              0
  74  Window          2.114          1.495          1.072          90             270            0
  75  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  76  Vase            0.333          0.546          1.272          0              270            0
  77  SinkBasin       -0.148         0.753          -2.026         0              0              0
  78  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  81  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  82  DiningTable     0.170          0.005          0.678          0              270            0
  83  Shelf           0.170          0.155          0.678          0              270            0
  84  Shelf           1.605          0.172          2.480          0              0              0
  85  Shelf           1.605          0.552          2.480          0              0              0
  86  Shelf           1.604          0.880          2.479          0              0              0
  87  ShelvingUnit    1.605          0.006          2.480          0              0              0
  88  Faucet          -0.143         1.028          -2.223         0              270            0
  89  Stool           -0.553         0.000          0.871          1.233          280.376        0
  90  Shelf           0.170          0.528          0.678          0              270            0
  91
  92
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn left and circle around the corner of the table and face the table. | STEP 2: Pick the knife up off of the table. | STEP 3: Turn around away from the table and walk towards the counter with the toaster. | STEP 4: Slice the loaf of bread between the toaster and sink. | STEP 5: Take a step to the left and face the counter again. | STEP 6: Place the knife of the counter to the left of the apple. | STEP 7: Step back over to face the loaf of bread. | STEP 8: Take a middle slice of bread. | STEP 9: Turn around, take a step out and then turn left towards the refrigerator and walk to it. | STEP 10: Open the door, place the slice of bread inside, close the door to chill the bread for a moment. And finally remove the slice once more closing the door behind. | STEP 11: Turn around to face the opposite direction and walk all the way to the oven. Make your way around the oven to you left until you face the green waste basket next to the oven. | STEP 12: Put the slice of bread in the waste basket. | END