Task: Put a cold 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: Walk slightly to the right towards the round white table and turn right at the cabinet. walk straight pass the cabinet, turn slightly to the left and turn left again to go to the stove.   | STEP 2: Pick up the knife on the counter top next to the stove.  | STEP 3: Turn right, walk straight towards the white round table, turn right after the cabinet and walk straight to the white table.  | STEP 4: Cut the bread near the window using the knife.  | STEP 5: Walk to the left to the trash can on the other side of the room. | STEP 6: put the knife in the trash can.  | STEP 7: Go back to the round white table at the other side of the room.  | STEP 8: Get a slice of the bread that you cut from the table.  | STEP 9: Go slightly to the left, turn left, walk towards the door and turn right to go to the fridge.  | STEP 10: Open the fridge, put the bread on the rack, close the fridge, let it cool for a few seconds, pick up the bread again and close the door.  | STEP 11: Walk back to the trash can again.  | STEP 12: Put the cold bread in the trash can.  | END