Task: Putting a slice of bread in 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           0.900          2.0            0              270            0
   1  Potato          -1.465         0.962          0.567          0              0              0              69
   2  Potato          -1.553         0.962          0.567          0              0              0              69
   3  Pot             -0.785         1.051          2.369          0              0              0              47
   4  Spoon           -1.568         1.154          0.108          0              0              0              44
   5  Spatula         -1.642         0.946          0.498          0              270            0              69
   6  Spatula         -1.885         1.139          0.662          0              0              0              57
   7  Egg             -1.199         0.961          0.221          0              0              0              69
   8  Cup             -3.266         0.726          2.778          0              90             0              64
   9  Plate           -1.235         0.047          0.381          0              0              0              51
  10  Plate           -2.262         1.123          0.473          0              0              0              57
  11  Knife           -1.376         0.963          0.428          0              0              0              69
  12  Tomato          -0.785         1.087          3.266          0              0              0              47
  13  Bowl            -0.662         1.044          3.042          0              0              0              47
  14  Bowl            -1.562         0.046          0.551          0              0              0              62
  15  SaltShaker      -2.388         1.121          0.284          0              0              0              57
  16  Lettuce         -0.662         1.125          2.817          0              0              0              47
  17  Lettuce         -0.908         1.124          1.920          0              0              0              47
  18  Mug             -1.235         0.044          0.551          0              0              0              51
  19  Apple           -1.288         0.998          0.221          0              0              0              69
  20  Fork            -0.538         1.048          1.920          0              0              0              47
  21  SoapBottle      -0.908         1.047          2.144          0              0              0              47
  22  Pot             -3.475         1.133          0.48           0              90             0              45
  23  Ladle           -0.715         1.164          0.296          0              0              0              59
  24  Potato          -3.887         1.155          0.284          0              0              0              54
  25  Plate           -3.506         0.910          3.061          0              90             0              64
  26  Bread           -2.639         1.211          0.379          0              0              0              57
  27  Lettuce         -3.44          1.637          2.991          0              90             0              64
  28  Spatula         -1.111         0.946          0.428          0              0              0              69
  29  Pan             -3.000         1.133          0.227          0              270            0              61
  30  Egg             -0.785         1.077          2.144          0              0              0              47
  31  Cup             -3.639         1.560          3.203          0              90             0              64
  32  SaltShaker      -0.715         1.121          0.569          0              0              0              59
  33  Knife           -2.514         1.157          0.567          0              0              0              57
  34  Bowl            -0.908         1.044          3.042          0              0              0              47
  35  PepperShaker    -2.042         0.091          0.512          0              0              0              49
  36  ButterKnife     -1.885         1.124          0.567          0              90             0              57
  37  Apple           -1.288         0.998          0.636          0              0              0              69
  38  Tomato          -3.593         0.153          2.038          0              0              0              68
  39  DishSponge      -0.168         1.046          1.920          0              0              0              47
  40  Spoon           -0.785         1.049          2.593          0              0              0              47
  41  Mug             -0.377         1.094          3.194          0              270            0              63
  42  StoveKnob       -3.322         1.053          0.709          45             0              0
  43  StoveBurner     -3.474         1.097          0.227          0              180            0
  44  Sink            -1.394         0.982          0.439          0              0              0
  45  StoveBurner     -3.474         1.097          0.479          0              180            0
  46  StoveKnob       -3.164         1.053          0.709          45             0              0
  47  DiningTable     -0.620         0.017          2.486          0              0              0
  48  Drawer          -2.043         0.608          0.594          0              0              0
  49  Drawer          -2.043         0.216          0.594          0              0              0
  50  Drawer          -2.498         0.216          0.594          0              0              0
  51  Cabinet         -1.001         0.393          0.734          0              0              0
  52  StoveBurner     -3.000         1.097          0.480          0              0              0
  53  StoveKnob       -3.492         1.053          0.709          45             0              0
  54  CounterTop      -3.856         1.160          0.379          0              0              0
  55  Drawer          -2.043         0.937          0.599          0              0              0
  56  Drawer          -2.509         0.937          0.599          0              0              0
  57  CounterTop      -2.280         1.160          0.379          0              0              0
  58  StoveKnob       -2.985         1.053          0.709          45             0              0
  59  CounterTop      -0.514         1.160          0.492          0              0              0
  60  Drawer          -2.498         0.608          0.594          0              0              0
  61  StoveBurner     -3.000         1.097          0.227          0              0              0
  62  Cabinet         -1.733         0.393          0.734          0              0              0
  63  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  64  Fridge          -3.519         0.0            2.717          0              90             0
  65  Window          -1.394         1.924          0.014          90             0              0
  66  Window          -3.266         1.924          0.014          90             0              0
  67  Toaster         -0.225         1.038          2.865          0              270            0
  68  GarbageCan      -3.696         0.002          2.008          0              0              0
  69  SinkBasin       -1.389         0.921          0.428          0              0              0
  70  Microwave       -0.366         1.113          0.430          0              0              0
  71  HousePlant      -2.155         1.101          0.169          0              332.897        0
  72  LightSwitch     -2.584         1.299          3.5            0              180            0
  73  Faucet          -1.393         1.373          0.168          0              270            0
  74  NorthWall
  75  SouthWall
  76  SouthWall

Plan:
STEP 1: Turn left and move to the counter | STEP 2: Pick up the knife from the counter | STEP 3: Move slightly to the right | STEP 4: Slice the bread to the left of the stove | STEP 5: Move slightly to the left | STEP 6: Put the knife down above the spatula | STEP 7: Move slightly to the right again | STEP 8: Pick up a slice of bread | STEP 9: Turn left and move to the microwave that's on the right | STEP 10: Open the microwave, put the slice of bread inside, close the door, turn on microwave, wait, open microwave, remove slice of bread and then close the microwave | STEP 11: Turn around and move to the trash can to the left of the fridge | STEP 12: Put the slice of bread in the trash | END