Task: To put two slices of bread from two different loaves into the trash can.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.899          4.25           0              270            0
   1  Pencil          -2.026         0.923          1.8            0              270            0              76
   2  Potato          -0.348         1.104          3.974          0              270            0              111
   3  Potato          -0.342         1.369          3.231          0              270            0              111
   4  ButterKnife     -3.255         0.923          5.259          0              90             0              78
   5  ButterKnife     -2.026         0.923          1.951          0              0              0              60
   6  WineBottle      -3.748         0.069          6.457          0              270            0              104
   7  Pot             -0.258         0.926          5.603          0              90             0              63
   8  Fork            -1.777         0.924          2.026          0              0              0              60
   9  Spoon           -4.159         0.792          3.410          0              90             0              110
  10  Spatula         -0.258         0.940          5.932          0              180            0              63
  11  Cup             -0.383         1.334          3.479          0              270            0              111
  12  Cup             -1.981         1.452          1.638          0              0              0              97
  13  Egg             -0.342         1.616          3.168          0              270            0              111
  14  Knife           -3.686         0.953          1.799          0              0              0              78
  15  Knife           -0.411         0.954          5.273          0              0              0              63
  16  SoapBottle      -1.934         0.081          1.971          0              0              0              94
  17  SoapBottle      -0.334         0.924          5.273          0              0              0              63
  18  Tomato          -4.033         0.980          3.863          0              90             0              110
  19  Tomato          -0.383         1.742          3.794          0              270            0              111
  20  SaltShaker      -3.449         1.449          1.605          0              0              0              52
  21  SaltShaker      -4.517         0.919          3.315          0              0              0              78
  22  PepperShaker    -3.839         0.075          5.077          0              90             0              92
  23  Lettuce         -4.196         0.886          3.347          0              270            0              110
  24  Lettuce         -0.181         1.020          4.944          0              0              0              63
  25  Bread           -0.401         1.150          3.726          0              270            0              111
  26  Mug             -2.688         1.541          1.666          0              0              0              108
  27  Mug             -0.411         0.920          5.932          0              180            0              112
  28  Egg             -2.583         1.582          1.633          0              0              0              108
  29  Apple           -2.026         0.976          2.026          0              0              0              60
  30  Knife           -4.184         0.953          4.900          0              90             0              78
  31  Potato          -0.242         1.104          3.355          0              270            0              111
  32  Fork            -4.233         0.791          3.097          0              180            0              110
  33  Bowl            -4.089         0.074          4.813          0              0              0              71
  34  Plate           -3.193         1.460          5.512          0              90             0              64
  35  Lettuce         -3.712         0.164          6.292          0              270            0              104
  36  Bread           -1.693         1.003          1.724          0              0              0              60
  37  Tomato          -0.259         1.637          3.349          0              270            0              111
  38  WineBottle      -1.860         0.924          1.724          0              0              0              60
  39  Spatula         -4.033         0.938          4.122          0              90             0              78
  40  PaperTowelRoll  -1.777         1.027          1.951          0              0              0              60
  41  Cup             -0.488         0.923          4.944          0              0              0              63
  42  Pencil          -2.026         0.923          1.724          0              0              0              76
  43  Pan             -2.454         0.933          2.023          0              240.000        0              66
  44  Pot             -2.924         0.930          1.712          0              180            0              75
  45  SaltShaker      -4.381         0.919          2.766          0              0              0              78
  46  SoapBottle      -4.006         0.080          3.465          0              270            0              83
  47  PepperShaker    -3.510         0.741          5.192          0              180            0              69
  48  ButterKnife     -4.196         0.790          3.410          0              0              0              110
  49  DishSponge      -4.128         0.080          3.419          0              0              0              83
  50  Spoon           -1.782         0.747          1.956          0              0              0              76
  51  Mug             -0.301         1.575          3.530          0              270            0              111
  52  Cabinet         -3.203         1.931          1.777          0              0              0
  53  Cabinet         -3.187         0.390          2.089          0              0              0
  54  Cabinet         -0.637         0.387          6.882          0              180            0
  55  Drawer          -3.797         0.781          1.961          0              0              0
  56  Cabinet         -3.036         0.387          5.029          0              90             0
  57  Drawer          -0.509         0.775          5.268          0              270            0
  58  Drawer          -4.125         0.798          2.499          0              0              0
  59  Cabinet         -0.331         2.249          4.308          0              180            0
  60  CounterTop      -1.872         0.958          1.799          0              0              0
  61  StoveBurner     -2.924         0.924          2.012          0              0              0
  62  Cabinet         -0.331         2.249          6.806          0              180            0
  63  CounterTop      -0.345         0.960          5.603          0              0              0
  64  Cabinet         -3.039         1.935          5.321          0              90             0
  65  Cabinet         -3.922         0.397          2.088          0              0              0
  66  StoveBurner     -2.467         0.924          2.012          0              0              0
  67  Cabinet         -0.331         2.249          5.505          0              180            0
  68  Drawer          -0.509         0.775          4.617          0              270            0
  69  Drawer          -3.509         0.777          5.157          0              180            0
  70  Cabinet         -3.961         0.388          2.878          0              0              0
  71  Cabinet         -3.961         0.388          4.342          0              0              0
  72  Cabinet         -0.637         0.387          5.582          0              180            0
  73  Cabinet         -0.637         0.388          4.299          0              180            0
  74  Cabinet         -0.637         0.388          5.599          0              180            0
  75  StoveBurner     -2.924         0.924          1.712          0              180            0
  76  Drawer          -1.859         0.775          1.961          0              0              0
  77  Cabinet         -0.331         2.249          5.609          0              180            0
  78  CounterTop      -4.260         0.958          4.943          0              90             0
  79  Cabinet         -4.284         1.931          2.226          0              0              0
  80  Cabinet         -0.331         2.249          3.010          0              180            0
  81  Drawer          -3.801         0.777          5.157          0              180            0
  82  Cabinet         -4.112         1.935          5.321          0              90             0
  83  Cabinet         -3.968         0.388          3.662          0              0              0
  84  Drawer          -3.418         0.777          1.961          0              0              0
  85  Drawer          -4.090         0.777          4.661          0              90             0
  86  Faucet          -4.441         0.909          3.288          270            0              0
  87  Cabinet         -0.331         2.249          4.207          0              180            0
  88  Cabinet         -3.961         0.388          2.119          0              0              0
  89  Drawer          -0.509         0.775          5.920          0              270            0
  90  Drawer          -3.193         0.777          5.157          0              180            0
  91  Cabinet         -3.968         0.388          2.894          0              0              0
  92  Cabinet         -3.667         0.387          5.029          0              90             0
  93  StoveBurner     -2.469         0.924          1.712          0              270            0
  94  Cabinet         -1.539         0.388          2.090          0              0              0
  95  Sink            -4.190         0.921          3.279          0              0              0
  96  Cabinet         -3.641         0.387          5.029          0              90             0
  97  Cabinet         -1.583         1.931          1.777          0              0              0
  98  Drawer          -0.509         0.775          6.568          0              270            0
  99  CoffeeMachine   -0.279         0.912          6.556          0              270            0
 100  StoveKnob       -2.347         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 102  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 103  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 104  GarbageCan      -3.711         -0.030         6.376          0              270            0
 105  Toaster         -3.578         0.912          1.763          0              0              0
 106  Curtains        -4.522         2.252          3.391          90             90             0
 107  Window          -4.868         1.629          3.309          90             270            0
 108  Microwave       -2.693         1.430          1.689          0              0              0
 109  LightSwitch     -1.588         1.169          1.506          0              0              0
 110  SinkBasin       -4.196         0.780          3.276          0              270            0
 111  Fridge          -0.324         -0.001         3.602          0              0              0
 112
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: Turn left and walk forward to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and walk past the counter and then turn around to the right to face the end of the counter. | STEP 4: Cut the bread on the end of the counter into slices. | STEP 5: Turn to the right and walk forward and turn right to face the fridge. | STEP 6: Cut the loaf of bread in the fridge into slices. | STEP 7: Turn right and walk to the wall, then turn left and walk forward to face the trash can on the floor. | STEP 8: Place the knife in the trash can. | STEP 9: Turn around and walk across the room, then turn right and walk across the room to the end of the counter and turn right to face then end of the counter. | STEP 10: Pick up a slice of bread on the counter. | STEP 11: Turn right and walk to the wall, then turn left and walk forward to face the trash can on the floor. | STEP 12: Place the slice of bread in the trash can. | STEP 13: Turn around and walk across the room, then turn right and walk across the room to the fridge and then turn left to face the fridge. | STEP 14: Pick up a slice of bread from inside the fridge. | STEP 15: Turn left and walk to the wall, then turn left and walk forward to face the trash can on the floor. | STEP 16: Place the slice of bread in the trash can. | END