Task: Place cooked bread into a trashcan

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          2.75           0              0              0
   1  Potato          0.107          0.949          0.738          0              0              0              75
   2  CellPhone       -0.844         0.909          -1.415         0              0              0              67
   3  CellPhone       0.107          0.923          0.273          0              0              0              75
   4  ButterKnife     -1.727         0.911          -1.063         0              0              0              67
   5  ButterKnife     -1.874         0.911          -1.221         0              0              0              67
   6  Fork            1.714          0.120          0.745          0              270            0              59
   7  Spoon           1.713          0.238          -0.157         0              0              0              50
   8  Spatula         -1.668         0.926          -1.610         0              0              0              67
   9  Spatula         0.889          0.926          -1.221         0              0              0              67
  10  Pot             1.975          0.938          0.819          0              180            0              77
  11  SoapBottle      1.924          1.662          -1.280         0              270            0              55
  12  Tomato          -1.803         1.728          -0.269         0              90             0              90
  13  Bowl            -0.320         0.924          0.738          0              0              0              75
  14  Bowl            -0.002         0.758          -1.380         0              0              0              91
  15  SaltShaker      0.853          0.667          -1.301         0              0              0              48
  16  Bread           -0.213         1.006          -0.190         0              0              0              75
  17  Lettuce         1.900          0.988          1.258          0              0              0              67
  18  Lettuce         0.170          0.837          -1.490         0              0              0              91
  19  Mug             1.355          0.955          -1.362         0              0              0              89
  20  Apple           1.924          1.059          -0.808         0              270            0              88
  21  Apple           -1.692         0.616          -0.175         0              90             0              90
  22  SoapBottle      -1.727         0.915          -0.864         0              0              0              67
  23  Cup             1.892          1.004          -0.651         0              270            0              88
  24  Pot             -0.106         0.929          0.273          0              0              0              75
  25  Fork            1.612          0.461          1.088          0              90             0              65
  26  Ladle           1.710          0.739          0.608          0              0              0              68
  27  Kettle          -0.320         0.926          1.202          0              0              0              75
  28  Egg             -1.796         0.099          1.412          0              270            0              81
  29  Plate           -1.151         0.112          -1.360         0              0              0              79
  30  Pan             -1.286         0.9            -1.348         0              79.769         0              67
  31  Lettuce         -1.697         1.545          -0.081         0              90             0              90
  32  Spatula         1.603          0.598          -0.238         0              180            0              52
  33  Apple           1.900          0.964          1.484          0              0              0              67
  34  Knife           0.214          0.947          0.041          0              0              0              75
  35  SaltShaker      -1.105         0.109          -1.550         0              0              0              79
  36  PepperShaker    -0.867         1.675          -1.652         0              0              0              69
  37  CellPhone       1.769          0.760          1.220          0              270            0              73
  38  ButterKnife     0.107          0.925          0.970          0              0              0              75
  39  Bread           -0.320         1.006          0.273          0              0              0              75
  40  Tomato          -1.716         0.894          0.201          0              90             0              90
  41  Potato          -1.716         0.863          0.013          0              90             0              90
  42  DishSponge      -0.002         0.760          -1.546         0              0              0              91
  43  Spoon           -0.261         0.761          -1.490         0              90             0              91
  44  Mug             -1.764         1.656          -1.056         0              0              0              54
  45  Bowl            0.321          0.924          0.738          0              0              0              75
  46  Cabinet         -0.495         0.474          -1.149         0              0              0
  47  Window          -0.010         1.582          -1.821         0              0              0
  48  Drawer          0.805          0.475          -1.159         0              0              0
  49  StoveBurner     1.764          0.902          0.601          0              270            0
  50  Drawer          1.5            0.196          -0.019         0              0              0
  51  Drawer          1.5            0.629          -0.018         0              0              0
  52  Drawer          1.5            0.602          -0.019         0              270            0
  53  StoveBurner     1.975          0.902          0.384          0              270            0
  54  Cabinet         -1.703         2.022          -1.453         0              90             0
  55  Cabinet         1.789          2.019          -0.819         0              270            0
  56  Cabinet         0.494          0.474          -1.149         0              0              0
  57  Cabinet         0.409          0.475          0.444          0              0              0
  58  Drawer          -0.696         0.475          -1.159         0              0              0
  59  Drawer          1.5            0.140          0.599          0              270            0
  60  Cabinet         1.389          0.474          -1.149         0              0              0
  61  Drawer          1.5            0.305          0.600          0              0              0
  62  StoveBurner     1.975          0.902          0.601          0              270            0
  63  Drawer          1.5            0.429          -0.019         0              0              0
  64  StoveBurner     1.764          0.902          0.819          0              270            0
  65  Drawer          1.5            0.519          1.220          0              0              0
  66  Cabinet         1.705          2.019          -1.449         0              0              0
  67  CounterTop      0.002          0.947          -1.513         0              0              0
  68  Drawer          1.5            0.629          0.605          0              0              0
  69  Cabinet         -0.627         2.019          -1.449         0              0              0
  70  StoveBurner     1.764          0.902          0.384          0              270            0
  71  Drawer          1.5            0.538          0.600          0              0              0
  72  Sink            0.0            0.893          -1.434         0              0              0
  73  Drawer          1.5            0.782          1.220          0              270            0
  74  Window          2.217          1.565          -0.384         0              0              0
  75  CounterTop      -0.014         0.961          0.505          0              0              0
  76  Drawer          1.5            0.200          1.220          0              0              0
  77  StoveBurner     1.975          0.902          0.819          0              270            0
  78  Window          -3.240         1.616          2.693          0              270            0
  79  Cabinet         -1.389         0.474          -1.149         0              0              0
  80  LightSwitch     -0.153         1.291          3.700          0              180            0
  81  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  82  StoveKnob       1.602          0.917          0.570          0              270            180
  83  StoveKnob       1.602          0.917          0.625          0              270            180
  84  StoveKnob       1.602          0.917          0.739          0              270            180
  85  StoveKnob       1.602          0.917          0.680          0              270            180
  86  StoveKnob       1.602          0.917          0.462          0              270            180
  87  StoveKnob       1.602          0.917          0.517          0              270            180
  88  Microwave       1.932          0.899          -0.766         0              270            0
  89  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  90  Fridge          -1.764         0.0            0.014          0              90             0
  91  SinkBasin       -0.014         0.736          -1.435         0              0              0
  92  Toaster         1.977          0.900          -0.336         0              270            0
  93  Faucet          -0.020         1.137          -1.605         0              270            0
  94  Chair           -9.354         0.000          1.242          0              180            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Turn around and cross the room to the counter in front of you, at the counter turn right to face the counter directly to the left of the fridge | STEP 2: Pick up the butter knife on the right | STEP 3: Turn around and walk to the end of the island on your left | STEP 4: Slice the loaf of bread that is sitting on the island | STEP 5: Turn right and face the drawers that are to the left of the dishwasher | STEP 6: Open the bottom drawer to the left of the dishwasher and place the knife inside then close the drawer | STEP 7: Turn to your left and face the end of the island with the sliced loaf of bread | STEP 8: Pick up a slice of bread | STEP 9: Turn to your right and walk to the microwave that is sitting on the counter above the dishwasher | STEP 10: Open the microwave and place the slice of bread on the plate behind the cup and apple, Close the door then turn on the microwave.  Open the microwave and pick up the slice of bread then close the door | STEP 11: Turn around and cross the room towards the fridge.  Walk to the trash can that is to the right of the fridge | STEP 12: Place the slice of bread into the trash can behind the egg | END