Task: Put several items 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           -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 toaster. | STEP 2: Pick up the knife from the counter next to the toaster. | STEP 3: Turn left and walk to the loaf of bread. | STEP 4: Slice the loaf of bread on the counter. | STEP 5: Turn right and walk to the refrigerator. | STEP 6: Open and look in the refrigerator and close it again. | STEP 7: Walk to the wall, then turn left to go to the trash can. | STEP 8: Put the knife in the trash can. | STEP 9: Turn around and walk across the room to the sliced loaf of bread. | STEP 10: Pick up a slice of bread from the loaf on the counter. | STEP 11: Walk across the room to the trash can. | STEP 12: Put the slice of bread in the trash can. | STEP 13: Turn around and walk to the refrigerator. | STEP 14: Take a slice of bread out of the refrigerator. | STEP 15: Turn around and walk back to the trash can. | STEP 16: Put the slice of bread in the trash can. | END