Task: Put a knife and two slices of bread into a 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 to the counter to the right of the stove top, facing the toaster. | STEP 2: Pick up the knife that is to the right of the toaster. | STEP 3: Turn left, walking past the stove top towards the fridge.  Then turn right around the edge of the counter towards the door.  Turn to face the short edge of the counter. | STEP 4: Slice half of the loaf of bread that is on the counter. | STEP 5: Turn right and walk to the fridge.  Face the fridge. | STEP 6: Open the fridge (bottom door), slice half of the loaf of bread that is sitting on the top shelf, then close the fridge door. | STEP 7: Still holding the knife, turn left and walk to the wall, then turn left again and walk to the trash can that sits in the corner. | STEP 8: Put the knife into the trash can to the right of the green apple. | STEP 9: Turn around and walk past the fridge towards the door, stopping to face the short edge of the counter that is to the right of the door. | STEP 10: Pick up one slice of bread from off of the counter. | STEP 11: Turn right and walk to the trash can (walk past the fridge to the wall, then turn left to go to the trash can in the corner). | STEP 12: Put the slice of bread into the trash can in front of the bottle. | STEP 13: Turn around and walk to the fridge. | STEP 14: Open the fridge (bottom) door, take out one slice of bread from the top shelf, then close the fridge door. | STEP 15: Turn left and walk back to the trash can that is in the corner along the wall. | STEP 16: Put the slice of bread into the trash can. | END