Task: Putting a piece 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           -3.5           0.900          1.5            0              90             0
   1  Ladle           -0.538         1.087          3.266          0              0              0              46
   2  Ladle           -0.292         1.087          1.920          0              0              0              46
   3  DishSponge      -1.274         0.049          0.551          0              0              0              50
   4  DishSponge      -1.553         0.931          0.359          0              0              0              68
   5  Pot             -3.475         1.133          0.227          0              90             0              42
   6  Pot             -1.199         0.935          0.498          0              0              0              68
   7  Spoon           -2.356         0.096          0.545          0              90             0              49
   8  Spoon           -1.465         0.932          0.290          0              0              0              68
   9  Cup             -2.011         1.122          0.567          0              0              0              56
  10  Plate           -0.538         1.046          2.817          0              0              0              46
  11  Plate           -1.195         0.047          0.381          0              0              0              50
  12  Knife           -0.715         1.157          0.478          0              0              0              58
  13  SaltShaker      -2.639         0.091          0.579          0              0              0              49
  14  PepperShaker    -1.483         0.045          0.608          0              0              0              61
  15  PepperShaker    -1.601         0.045          0.665          0              0              0              61
  16  Lettuce         -0.785         1.125          3.266          0              0              0              46
  17  Lettuce         -0.785         1.124          3.042          0              0              0              46
  18  Mug             -1.116         0.044          0.551          0              0              0              50
  19  Fork            -0.662         1.048          2.817          0              0              0              46
  20  SoapBottle      -0.538         1.047          3.042          0              0              0              46
  21  Pot             -1.553         0.935          0.567          0              0              0              68
  22  Ladle           -1.922         1.139          0.377          350.930        45             351.755        56
  23  Potato          -3.229         0.759          2.778          0              180            0              63
  24  Plate           -3.506         1.285          2.849          0              90             0              63
  25  Bread           -0.908         1.133          2.144          0              0              0              46
  26  Lettuce         -0.785         1.125          1.920          0              0              0              46
  27  Spatula         -1.885         1.139          0.473          0              90             0              56
  28  Pan             -0.266         1.038          2.561          0              0              0              46
  29  Egg             -3.798         0.142          1.948          0              0              0              67
  30  Cup             -3.506         1.284          3.061          0              90             0              63
  31  SaltShaker      -0.908         1.043          2.593          0              0              0              46
  32  Knife           -0.771         1.157          0.296          0              180            0              58
  33  Bowl            -0.495         1.038          2.223          0              0              0              46
  34  PepperShaker    -1.483         0.045          0.495          0              0              0              61
  35  ButterKnife     -0.662         1.047          1.920          0              0              0              46
  36  Apple           -3.373         0.979          3.203          0              90             0              63
  37  Tomato          -3.778         1.165          0.473          0              0              0              53
  38  DishSponge      -2.463         0.902          0.578          0              0              0              55
  39  Spoon           -1.288         0.932          0.290          0              0              0              68
  40  Mug             -0.377         1.094          3.194          0              270            0              62
  41  StoveKnob       -3.322         1.053          0.709          45             0              0
  42  StoveBurner     -3.474         1.097          0.227          0              180            0
  43  Sink            -1.394         0.982          0.439          0              0              0
  44  StoveBurner     -3.474         1.097          0.479          0              180            0
  45  StoveKnob       -3.164         1.053          0.709          45             0              0
  46  DiningTable     -0.620         0.017          2.486          0              0              0
  47  Drawer          -2.043         0.608          0.594          0              0              0
  48  Drawer          -2.043         0.216          0.594          0              0              0
  49  Drawer          -2.498         0.216          0.594          0              0              0
  50  Cabinet         -1.001         0.393          0.734          0              0              0
  51  StoveBurner     -3.000         1.097          0.480          0              0              0
  52  StoveKnob       -3.492         1.053          0.709          45             0              0
  53  CounterTop      -3.856         1.160          0.379          0              0              0
  54  Drawer          -2.043         0.937          0.599          0              0              0
  55  Drawer          -2.509         0.937          0.599          0              0              0
  56  CounterTop      -2.280         1.160          0.379          0              0              0
  57  StoveKnob       -2.985         1.053          0.709          45             0              0
  58  CounterTop      -0.514         1.160          0.492          0              0              0
  59  Drawer          -2.498         0.608          0.594          0              0              0
  60  StoveBurner     -3.000         1.097          0.227          0              0              0
  61  Cabinet         -1.733         0.393          0.734          0              0              0
  62  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  63  Fridge          -3.519         0.0            2.717          0              90             0
  64  Window          -1.394         1.924          0.014          90             0              0
  65  Window          -3.266         1.924          0.014          90             0              0
  66  Toaster         -0.225         1.038          2.865          0              270            0
  67  GarbageCan      -3.696         0.002          2.008          0              0              0
  68  SinkBasin       -1.389         0.921          0.428          0              0              0
  69  Microwave       -0.366         1.113          0.430          0              0              0
  70  HousePlant      -2.155         1.101          0.169          0              332.897        0
  71  LightSwitch     -2.584         1.299          3.5            0              180            0
  72  Faucet          -1.393         1.373          0.168          0              270            0
  73  NorthWall
  74  SouthWall
  75  SouthWall

Plan:
STEP 1: Move to the table just ahead to the left of the microwave | STEP 2: Pick up the knife from under the lettuce on the table | STEP 3: Move slightly to the left | STEP 4: Cut the bread into slices | STEP 5: Turn to the counter on the right | STEP 6: Open the cabinet, put the knife below the sponge and close the cabinet | STEP 7: Turn around and go back to the table with the bread | STEP 8: Pick up a slice of bread | STEP 9: Move to the microwave to the right of the table | STEP 10: Open the microwave, put the slice of bread in, close the microwave, turn it on, wait, open the microwave, remove the slice of bread and then close the microwave | STEP 11: Turn around and go to the trash can to the right of the fridge | STEP 12: put the slice of bread in the trash | END