Task: Put a cold slice of bread in the 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           -0.25          0.900          3.25           0              0              0
   1  Pan             1.836          1.027          -1.84          0              90             0              53
   2  Pan             1.761          1.027          -1.599         0              0              0              98
   3  Ladle           1.947          0.840          1.365          0              317.0          0              69
   4  DishSponge      2.975          0.764          4.118          0              270            0              56
   5  DishSponge      2.451          0.764          3.445          0              0              0              56
   6  ButterKnife     2.537          1.026          -1.762         0              90             0              55
   7  ButterKnife     2.998          1.026          1.298          0              136.999        0              55
   8  WineBottle      -0.544         1.028          2.189          0              0              0              58
   9  WineBottle      1.170          1.027          -1.667         0              90             0              55
  10  Glassbottle     2.228          0.765          3.795          0              0              0              56
  11  Glassbottle     -1.028         0.786          -0.738         0              90             0              99
  12  Spatula         2.705          0.815          -0.792         0              90             0              55
  13  Spoon           -0.920         1.028          2.556          0              0              0              58
  14  Spoon           2.506          0.765          3.577          0              329.999        0              56
  15  Fork            2.706          1.027          -1.151         0              0              0              55
  16  Fork            -0.645         0.817          1.259          0              180            0              112
  17  Egg             2.101          0.808          3.821          0              270            0              56
  18  Egg             2.525          0.808          4.32           0              0              0              56
  19  Cup             2.423          0.763          4.257          0              225            0              56
  20  Cup             2.293          0.763          4.127          0              225            0              56
  21  Tomato          -0.577         0.870          1.492          0              90             0              112
  22  SoapBottle      -1.187         1.026          1.427          0              0              0              58
  23  Bowl            -1.013         1.440          -0.295         0              90             0              99
  24  SaltShaker      -0.808         1.760          0.398          0              0              0              90
  25  Bread           2.302          0.832          4.495          0              0              0              56
  26  Apple           -1.130         1.077          1.612          0              0              0              58
  27  Pan             2.899          0.034          0.119          0              90             0              81
  28  Glassbottle     -0.877         1.442          -0.073         0              90             0              99
  29  Knife           2.373          0.789          3.787          0              225            0              56
  30  SoapBottle      -0.916         0.075          2.874          0              0              0              110
  31  Egg             2.163          0.808          3.997          0              225            0              56
  32  Fork            1.170          1.027          -1.987         0              90             0              55
  33  Potato          -1.130         1.069          1.243          0              0              0              58
  34  Ladle           -0.669         1.066          2.311          0              0              0              58
  35  Tomato          -0.782         0.870          1.181          0              90             0              112
  36  Pot             1.334          0.023          -1.670         0              270            0              74
  37  WineBottle      2.801          0.765          3.895          0              270            0              56
  38  Plate           -0.544         1.027          1.943          0              0              0              58
  39  Spatula         2.061          0.779          3.580          0              225            0              56
  40  PaperTowelRoll  2.875          1.131          -1.762         0              0              0              55
  41  Lettuce         2.662          0.822          3.455          0              329.999        0              56
  42  Apple           1.529          1.077          -1.454         0              90             0              55
  43  SaltShaker      2.386          0.760          3.932          0              329.999        0              56
  44  PepperShaker    -0.374         1.023          1.448          0              0              0              58
  45  ButterKnife     1.925          0.764          3.969          0              270            0              56
  46  Bread           2.580          0.832          4.099          0              225            0              56
  47  Cup             -1.028         0.784          -0.516         0              90             0              99
  48  DishSponge      1.811          1.026          1.307          0              136.999        0              55
  49  Bowl            -0.984         1.779          0.910          0              0              0              73
  50  Spoon           -1.045         1.028          1.821          0              180            0              58
  51  Mug             -1.045         1.022          1.943          0              0              0              58
  52  Sink            -0.716         1.023          1.333          0              0              0
  53  StoveBurner     1.835          1.018          -1.840         0              90             0
  54  StoveBurner     2.177          1.018          -1.599         0              0              0
  55  CounterTop      2.812          0.992          0.675          0              0              0
  56  DiningTable     2.419          0.003          3.930          0              0              0
  57  Drawer          -0.643         0.828          0.616          0              0              0
  58  CounterTop      -0.813         1.062          2.188          0              0              0
  59  StoveBurner     2.115          1.018          -1.840         0              270            0
  60  Drawer          -0.643         0.831          1.953          0              0              0
  61  Drawer          -0.643         0.833          2.418          0              0              0
  62  Drawer          1.347          0.836          -1.539         0              0              0
  63  Drawer          2.693          0.833          -1.131         0              0              0
  64  Drawer          2.693          0.833          -0.699         0              0              0
  65  Drawer          2.693          0.833          -0.267         0              0              0
  66  Drawer          2.693          0.833          0.163          0              0              0
  67  Drawer          2.524          0.833          0.720          0              2.000          0
  68  Drawer          2.232          0.833          1.036          0              2.000          0
  69  Drawer          1.936          0.833          1.354          0              2.000          0
  70  Drawer          1.646          0.833          1.670          0              2.000          0
  71  Cabinet         1.504          2.475          -1.710         0              0              0
  72  Cabinet         -0.823         2.220          1.621          0              0              0
  73  Cabinet         -0.823         2.220          0.615          0              0              0
  74  Cabinet         1.136          0.388          -1.355         0              0              0
  75  Cabinet         -0.356         0.383          2.626          0              0              0
  76  Cabinet         2.745          2.220          -1.690         0              0              0
  77  Cabinet         1.882          0.383          1.017          0              0              0
  78  Cabinet         1.307          0.473          1.640          0              0              0
  79  Cabinet         1.892          0.383          1.006          0              0              0
  80  Cabinet         2.467          0.383          0.383          0              0              0
  81  Cabinet         2.466          0.383          -0.475         0              0              0
  82  Cabinet         2.466          0.473          0.371          0              0              0
  83  Cabinet         2.386          2.475          -1.710         0              0              0
  84  Cabinet         -0.356         0.383          1.712          0              0              0
  85  Cabinet         2.745          2.220          0.019          0              0              0
  86  Cabinet         -0.663         2.496          0.157          0              0              0
  87  Cabinet         -0.663         2.496          -0.868         0              0              0
  88  Cabinet         -0.356         0.383          0.269          0              0              0
  89  Cabinet         -0.823         2.220          1.603          0              0              0
  90  Cabinet         -0.662         2.234          0.586          0              0              0
  91  Cabinet         2.745          2.220          -0.843         0              0              0
  92  Cabinet         2.745          2.220          -0.827         0              0              0
  93  Cabinet         -0.823         2.220          2.608          0              0              0
  94  Cabinet         2.732          2.226          -1.709         0              0              0
  95  Cabinet         1.137          2.226          -1.709         0              0              0
  96  Cabinet         2.466          0.383          -0.491         0              0              0
  97  Cabinet         2.466          0.383          -1.339         0              0              0
  98  StoveBurner     1.761          1.018          -1.599         0              0              0
  99  Fridge          -0.908         0.0            -0.405         0              0              0
 100  HousePlant      2.517          1.016          1.822          0              0              0
 101  Microwave       1.939          1.745          -1.826         0              0              0
 102  StoveKnob       2.017          1.041          -1.514         0              180            180
 103  StoveKnob       1.934          1.041          -1.514         0              180            180
 104  StoveKnob       2.017          1.041          -1.589         0              180            180
 105  StoveKnob       1.934          1.041          -1.589         0              180            180
 106  Window          1.756          1.608          4.762          90             0              0
 107  HousePlant      2.171          1.004          2.091          0              0              0
 108  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 109  LightSwitch     -0.099         1.410          -2.066         0              0              0
 110  GarbageCan      -0.951         -0.029         2.826          0              0              0
 111  Toaster         -1.007         1.018          2.238          0              90             0
 112  SinkBasin       -0.714         0.805          1.348          0              90             0
 113  Chair           1.615          0.004          4.310          0              107.976        0
 114  Faucet          -1.120         1.013          1.334          0              90             0
 115  Chair           2.759          0.004          3.086          0              358.967        0
 116
 117  NorthWall
 118  EastWall
 119  SouthWall
 120  WestWall

Plan:
STEP 1: Turn around and walk across the kitchen to the stove.  | STEP 2: Pick up the knife on the counter to the left of the stove.  | STEP 3: Turn around and walk back across the kitchen, when you reach the end of the counter turn right and walk to the front of the table so that you are facing the window.  | STEP 4: Cut the loaf of bread on the table, all the way in the back, behind the two white cups, into slices.  | STEP 5: Turn to your left and walk to the garbage can across from you. | STEP 6: Place the knife in the garbage can, on the floor.  | STEP 7: Turn to your left and walk back to the table the sliced bread is on.  | STEP 8: Pick up the end slice of bread, closest to you, on the table.  | STEP 9: Turn around and walk across the kitchen to the stove, then make a right and go to the refrigerator. | STEP 10: Place the slice of bread on the top shelf, in front of the white cup, in the refrigerator, wait a moment for the bread to chill, then remove the bread from the refrigerator.  | STEP 11: Tum to your right and walk across the kitchen, then turn right at the end of the counter and go to the garbage can on the floor.  | STEP 12: Toss the piece of bread in the garbage can, against the kitchen cupboard.  | END