Task: Put a knife and cooked slice of bread 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           0.75           0.900          0.75           0              180            0
   1  Pan             -0.844         0.911          -1.513         0              0              0              72
   2  Potato          -1.692         0.586          -0.081         0              90             0              95
   3  Potato          0.170          0.784          -1.324         0              0              0              96
   4  CellPhone       0.214          0.923          0.970          0              0              0              80
   5  Ladle           1.712          0.589          1.153          0              0              0              70
   6  Ladle           0.107          0.969          -0.190         0              0              0              80
   7  ButterKnife     0.107          0.925          0.506          0              0              0              80
   8  Spoon           -0.213         0.926          1.202          0              0              0              80
   9  Spoon           0.107          0.926          1.202          0              0              0              80
  10  Spatula         1.862          0.560          1.350          0              270            0              70
  11  Spatula         -0.088         0.775          -1.380         0              270            0              96
  12  Pot             1.975          0.938          0.384          0              180            0              58
  13  Egg             0.256          0.817          -1.435         0              0              0              96
  14  Cup             2.073          0.909          1.484          0              0              0              72
  15  Plate           -0.213         0.924          0.041          0              0              0              80
  16  Plate           1.195          0.107          -1.479         0              0              0              65
  17  SoapBottle      0.250          0.116          -1.534         0              0              0              61
  18  SoapBottle      -1.114         1.683          -1.577         0              0              0              74
  19  Tomato          0.214          0.980          0.506          0              0              0              80
  20  Bowl            -1.750         1.674          -0.175         0              90             0              95
  21  SaltShaker      1.574          0.907          -1.513         0              0              0              72
  22  PepperShaker    -1.957         1.658          -1.207         0              90             0              59
  23  Bread           -0.106         1.006          1.202          0              0              0              80
  24  Bread           -1.697         1.549          0.201          0              90             0              95
  25  Bread           -0.320         1.006          0.506          0              0              0              80
  26  Apple           0.083          0.813          -1.546         0              0              0              96
  27  SoapBottle      1.924          1.662          -1.280         0              270            0              60
  28  Cup             -0.213         0.923          0.970          0              0              0              80
  29  Pot             1.975          0.938          0.819          0              180            0              82
  30  Fork            1.764          0.237          0.116          0              270            0              55
  31  Ladle           1.769          0.626          0.052          0              270            0              57
  32  Kettle          1.681          0.9            0.091          0              0              0              72
  33  Egg             -1.818         0.099          1.329          0              270            0              86
  34  Plate           -1.551         0.910          -1.013         0              0              0              72
  35  Pan             1.802          0.911          -1.513         0              270            0              72
  36  Lettuce         0.000          1.002          0.273          0              0              0              80
  37  Spatula         -0.106         0.940          0.273          0              90             0              80
  38  Apple           1.924          1.059          -0.704         0              270            0              93
  39  Knife           1.813          0.933          1.107          0              0              0              72
  40  SaltShaker      1.587          1.675          -1.690         0              0              0              71
  41  PepperShaker    0.000          0.921          0.506          0              0              0              80
  42  CellPhone       1.760          0.693          -0.080         0              0              0              56
  43  ButterKnife     0.170          0.760          -1.435         0              0              0              96
  44  Bread           0.321          1.006          0.738          0              0              0              80
  45  Tomato          -1.855         1.524          0.013          0              90             0              95
  46  Potato          1.900          0.935          1.182          0              0              0              72
  47  DishSponge      -1.874         0.911          -1.610         0              0              0              72
  48  Spoon           1.839          0.912          -0.053         0              0              0              72
  49  Mug             0.194          0.107          -1.220         0              270            0              61
  50  Bowl            0.000          0.924          0.738          0              0              0              80
  51  Cabinet         -0.495         0.474          -1.149         0              0              0
  52  Window          -0.010         1.582          -1.821         0              0              0
  53  Drawer          0.805          0.475          -1.159         0              0              0
  54  StoveBurner     1.764          0.902          0.601          0              270            0
  55  Drawer          1.5            0.196          -0.019         0              0              0
  56  Drawer          1.5            0.629          -0.018         0              0              0
  57  Drawer          1.5            0.602          -0.019         0              270            0
  58  StoveBurner     1.975          0.902          0.384          0              270            0
  59  Cabinet         -1.703         2.022          -1.453         0              90             0
  60  Cabinet         1.789          2.019          -0.819         0              270            0
  61  Cabinet         0.494          0.474          -1.149         0              0              0
  62  Cabinet         0.409          0.475          0.444          0              0              0
  63  Drawer          -0.696         0.475          -1.159         0              0              0
  64  Drawer          1.5            0.140          0.599          0              270            0
  65  Cabinet         1.389          0.474          -1.149         0              0              0
  66  Drawer          1.5            0.305          0.600          0              0              0
  67  StoveBurner     1.975          0.902          0.601          0              270            0
  68  Drawer          1.5            0.429          -0.019         0              0              0
  69  StoveBurner     1.764          0.902          0.819          0              270            0
  70  Drawer          1.5            0.519          1.220          0              0              0
  71  Cabinet         1.705          2.019          -1.449         0              0              0
  72  CounterTop      0.002          0.947          -1.513         0              0              0
  73  Drawer          1.5            0.629          0.605          0              0              0
  74  Cabinet         -0.627         2.019          -1.449         0              0              0
  75  StoveBurner     1.764          0.902          0.384          0              270            0
  76  Drawer          1.5            0.538          0.600          0              0              0
  77  Sink            0.0            0.893          -1.434         0              0              0
  78  Drawer          1.5            0.782          1.220          0              270            0
  79  Window          2.217          1.565          -0.384         0              0              0
  80  CounterTop      -0.014         0.961          0.505          0              0              0
  81  Drawer          1.5            0.200          1.220          0              0              0
  82  StoveBurner     1.975          0.902          0.819          0              270            0
  83  Window          -3.240         1.616          2.693          0              270            0
  84  Cabinet         -1.389         0.474          -1.149         0              0              0
  85  LightSwitch     -0.153         1.291          3.700          0              180            0
  86  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  87  StoveKnob       1.602          0.917          0.570          0              270            180
  88  StoveKnob       1.602          0.917          0.625          0              270            180
  89  StoveKnob       1.602          0.917          0.739          0              270            180
  90  StoveKnob       1.602          0.917          0.680          0              270            180
  91  StoveKnob       1.602          0.917          0.462          0              270            180
  92  StoveKnob       1.602          0.917          0.517          0              270            180
  93  Microwave       1.932          0.899          -0.766         0              270            0
  94  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  95  Fridge          -1.764         0.0            0.014          0              90             0
  96  SinkBasin       -0.014         0.736          -1.435         0              0              0
  97  Toaster         1.977          0.900          -0.336         0              270            0
  98  Faucet          -0.020         1.137          -1.605         0              270            0
  99  Chair           -9.354         0.000          1.242          0              180            0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn left and move to the counter on the left of the stove top. | STEP 2: Pick up the knife  from the counter. | STEP 3: Turn around and move to the other side of the island in front of the bread between two spoons. | STEP 4: Slice the loaf of bread. | STEP 5: Turn around to face the trash can behind you. | STEP 6: Put the knife in the trash can. | STEP 7: Turn around and move back to the sliced bread on the island. | STEP 8: Pick up a slice of bread. | STEP 9: Turn right and move to the microwave across the room to your right. | STEP 10: Cook the slice of bread in the microwave for a few seconds and then remove it. | STEP 11: Move back to the trash can on the other side of the island on the right of the fridge. | STEP 12: Put the slice of bread in the trash can. | END