Task: Throwing two slices of bread into the trash

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.899          5.0            0              270            0
   1  Potato          -0.401         1.104          3.479          0              270            0              103
   2  Pot             -2.469         0.930          1.712          0              270            0              85
   3  Spatula         -4.184         0.938          3.863          0              90             0              70
   4  Spatula         -0.334         0.940          5.603          0              0              0              55
   5  Cup             -0.383         1.334          3.355          0              270            0              103
   6  Cup             -0.383         1.684          3.854          0              270            0              103
   7  Plate           -4.196         0.791          3.285          0              270            0              102
   8  Plate           -0.342         1.581          3.228          0              270            0              103
   9  Knife           -0.334         0.954          4.615          0              0              0              55
  10  Knife           -3.852         0.953          5.182          0              90             0              70
  11  SoapBottle      -1.855         0.081          1.892          0              0              0              86
  12  Tomato          -0.258         0.982          4.944          0              0              0              55
  13  SaltShaker      -0.473         0.743          4.460          0              270            0              60
  14  SaltShaker      -0.532         0.742          6.722          0              270            0              90
  15  PepperShaker    -3.859         0.919          1.799          0              0              0              70
  16  PepperShaker    -0.258         2.131          6.070          0              180            0              69
  17  Lettuce         -3.494         1.018          5.182          0              90             0              70
  18  Bread           -0.488         1.004          4.944          0              0              0              55
  19  Apple           -3.639         0.122          6.457          0              270            0              96
  20  Egg             -4.159         0.826          3.097          0              270            0              102
  21  Apple           -3.712         0.122          6.333          0              270            0              96
  22  Knife           -1.943         0.953          1.951          0              0              0              52
  23  Potato          -0.259         1.369          3.231          0              270            0              103
  24  Fork            -4.033         0.924          4.122          0              90             0              70
  25  Bowl            -4.26          0.920          4.381          0              90             0              70
  26  Plate           -0.259         1.336          3.726          0              270            0              103
  27  Lettuce         -1.777         1.018          1.8            0              0              0              52
  28  Bread           -4.381         1.003          2.766          0              0              0              70
  29  Tomato          -4.335         0.980          5.418          0              90             0              70
  30  WineBottle      -2.026         0.924          1.573          0              0              0              52
  31  Spatula         -0.411         0.940          5.273          0              0              0              55
  32  PaperTowelRoll  -1.610         1.027          1.875          0              0              0              52
  33  Cup             -3.613         0.922          5.566          0              90             0              70
  34  Pencil          -0.258         0.925          5.603          0              0              0              55
  35  Pan             -2.454         0.933          2.023          0              240.000        0              58
  36  Pot             -2.924         0.930          1.712          0              180            0              67
  37  SaltShaker      -4.312         0.919          2.416          0              0              0              70
  38  SoapBottle      -3.474         0.082          5.229          0              90             0              88
  39  PepperShaker    -3.251         0.741          1.986          0              0              0              76
  40  ButterKnife     -4.411         0.923          4.640          0              270            0              70
  41  DishSponge      -2.109         0.923          1.724          0              0              0              52
  42  Spoon           -4.132         0.755          2.501          0              0              0              50
  43  Mug             -0.409         0.955          6.557          0              270            0              91
  44  Cabinet         -3.203         1.931          1.777          0              0              0
  45  Cabinet         -3.187         0.390          2.089          0              0              0
  46  Cabinet         -0.637         0.387          6.882          0              180            0
  47  Drawer          -3.797         0.781          1.961          0              0              0
  48  Cabinet         -3.036         0.387          5.029          0              90             0
  49  Drawer          -0.509         0.775          5.268          0              270            0
  50  Drawer          -4.125         0.798          2.499          0              0              0
  51  Cabinet         -0.331         2.249          4.308          0              180            0
  52  CounterTop      -1.872         0.958          1.799          0              0              0
  53  StoveBurner     -2.924         0.924          2.012          0              0              0
  54  Cabinet         -0.331         2.249          6.806          0              180            0
  55  CounterTop      -0.345         0.960          5.603          0              0              0
  56  Cabinet         -3.039         1.935          5.321          0              90             0
  57  Cabinet         -3.922         0.397          2.088          0              0              0
  58  StoveBurner     -2.467         0.924          2.012          0              0              0
  59  Cabinet         -0.331         2.249          5.505          0              180            0
  60  Drawer          -0.509         0.775          4.617          0              270            0
  61  Drawer          -3.509         0.777          5.157          0              180            0
  62  Cabinet         -3.961         0.388          2.878          0              0              0
  63  Cabinet         -3.961         0.388          4.342          0              0              0
  64  Cabinet         -0.637         0.387          5.582          0              180            0
  65  Cabinet         -0.637         0.388          4.299          0              180            0
  66  Cabinet         -0.637         0.388          5.599          0              180            0
  67  StoveBurner     -2.924         0.924          1.712          0              180            0
  68  Drawer          -1.859         0.775          1.961          0              0              0
  69  Cabinet         -0.331         2.249          5.609          0              180            0
  70  CounterTop      -4.260         0.958          4.943          0              90             0
  71  Cabinet         -4.284         1.931          2.226          0              0              0
  72  Cabinet         -0.331         2.249          3.010          0              180            0
  73  Drawer          -3.801         0.777          5.157          0              180            0
  74  Cabinet         -4.112         1.935          5.321          0              90             0
  75  Cabinet         -3.968         0.388          3.662          0              0              0
  76  Drawer          -3.418         0.777          1.961          0              0              0
  77  Drawer          -4.090         0.777          4.661          0              90             0
  78  Faucet          -4.441         0.909          3.288          270            0              0
  79  Cabinet         -0.331         2.249          4.207          0              180            0
  80  Cabinet         -3.961         0.388          2.119          0              0              0
  81  Drawer          -0.509         0.775          5.920          0              270            0
  82  Drawer          -3.193         0.777          5.157          0              180            0
  83  Cabinet         -3.968         0.388          2.894          0              0              0
  84  Cabinet         -3.667         0.387          5.029          0              90             0
  85  StoveBurner     -2.469         0.924          1.712          0              270            0
  86  Cabinet         -1.539         0.388          2.090          0              0              0
  87  Sink            -4.190         0.921          3.279          0              0              0
  88  Cabinet         -3.641         0.387          5.029          0              90             0
  89  Cabinet         -1.583         1.931          1.777          0              0              0
  90  Drawer          -0.509         0.775          6.568          0              270            0
  91  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  92  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  93  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  96  GarbageCan      -3.711         -0.030         6.376          0              270            0
  97  Toaster         -3.578         0.912          1.763          0              0              0
  98  Curtains        -4.522         2.252          3.391          90             90             0
  99  Window          -4.868         1.629          3.309          90             270            0
 100  Microwave       -2.693         1.430          1.689          0              0              0
 101  LightSwitch     -1.588         1.169          1.506          0              0              0
 102  SinkBasin       -4.196         0.780          3.276          0              270            0
 103  Fridge          -0.324         -0.001         3.602          0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Move around the counter keeping it on the right until you're in front of it | STEP 2: Pick up the knife on the counter | STEP 3: Turn around and move to the sink on the right | STEP 4: Slice the bread to the left of the sink | STEP 5: Turn around and move to the counter on the far left of the wall | STEP 6: Slice the second loaf of bread that is below the tomato | STEP 7: Turn left and move to the trash can in the small area ahead | STEP 8: Put the knife in the trash can | STEP 9: Turn around and turn right and move towards the counter with the sink | STEP 10: Pick up a slice of bread from the middle of the loaf to the left of the sink | STEP 11: Turn to the left and move to the wall before turning left into the small area with the trash can | STEP 12: Put the slice in the trash can | STEP 13: Turn around and return to the second loaf of bread that is below the tomato | STEP 14: Pick up a slice of bread from the middle of the loaf that sits below the tomato  | STEP 15: Turn around and go back to the small room with the trash can | STEP 16: Put the second slice of bread in the trash beneath the first one | END