Task: Throw away a chilled slice of bread in 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           -0.25          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 go to the counter on the left of the stove. | STEP 2: Pick up the gray knife on the counter.  | STEP 3: Turn around and go to the white round table on the opposite side.  | STEP 4: Slice the bread behind the two white cups closer to the edge of the table. | STEP 5: Turn left and go to the trash can at the end of the counter.  | STEP 6: Place the gray knife in the trash can. | STEP 7: Turn around and go back to the white round table.  | STEP 8: Pick up a slice of bread. | STEP 9: Turn around and go to the refrigerator on the opposite side of the kitchen. | STEP 10: Chill the bread in the refrigerator and take it out.  | STEP 11: Turn right to go to the trash can at the end of the counter.  | STEP 12: Place the chilled bread in the trash can. | END