Task: Throwing sliced bread into 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          -1.25          0              0              0
   1  Potato          -1.065         1.351          -0.110         0              90             0              69
   2  DishSponge      1.630          1.500          2.277          0              0              0              57
   3  DishSponge      1.624          1.948          1.410          0              0              0              55
   4  Spatula         -0.827         0.761          2.245          0              90             0              38
   5  Pot             -1.109         0.930          1.865          0              0              0              61
   6  Egg             1.362          0.979          1.631          0              180            0              64
   7  Cup             -1.154         1.827          -0.127         0              0              0              50
   8  Knife           1.748          0.959          1.566          0              90             0              42
   9  Knife           1.690          0.959          1.673          0              90             0              42
  10  Tomato          -0.964         0.876          0.042          0              90             0              69
  11  SoapBottle      -1.211         0.937          2.310          0              0              0              37
  12  PepperShaker    -1.154         1.825          0.010          0              0              0              50
  13  PepperShaker    1.285          0.934          2.597          0              0              0              42
  14  Apple           1.489          0.119          2.847          0              90             0              75
  15  Apple           -0.988         0.864          0.195          0              90             0              69
  16  Lettuce         -1.126         1.028          0.921          0              270            0              62
  17  SoapBottle      1.503          0.944          1.798          0              180            0              64
  18  Bread           -0.923         0.990          2.265          0              302.470        0              37
  19  Fork            1.787          0.938          1.351          0              90             0              42
  20  Tomato          -1.127         0.999          2.159          0              0              0              37
  21  Bowl            -0.946         0.196          -0.044         0              90             0              69
  22  Pot             -1.109         0.930          1.470          0              0              0              39
  23  Spatula         1.275          0.761          0.780          0              90             0              67
  24  Knife           -0.793         0.959          1.154          0              0              0              62
  25  SaltShaker      1.379          0.742          0.848          0              0              0              67
  26  Apple           -1.126         0.987          0.765          0              0              0              62
  27  PepperShaker    -0.793         0.934          1.154          0              0              0              62
  28  ButterKnife     1.516          0.937          0.873          0              0              0              42
  29  Potato          1.439          0.970          2.118          0              0              0              42
  30  Plate           -1.076         1.832          0.356          0              0              0              51
  31  DishSponge      1.340          1.746          0.168          0              0              0              45
  32  Egg             1.523          0.105          3.010          0              0              0              75
  33  Cup             1.550          0.943          1.673          0              180            0              64
  34  Pan             1.378          1.737          0.392          0              270            0              45
  35  Spoon           -0.712         0.939          2.310          0              90             0              37
  36  Mug             -1.161         1.496          2.494          0              90             0              59
  37  CounterTop      -0.973         0.973          2.386          0              0              0
  38  Drawer          -0.783         0.774          2.381          0              180            0
  39  StoveBurner     -1.108         0.922          1.470          0              0              0
  40  Drawer          1.370          0.774          2.391          0              0              0
  41  Stool           -0.748         0.008          3.116          0              0              0
  42  CounterTop      1.504          0.973          2.309          0              0              0
  43  Cabinet         1.219          1.388          0.591          0              0              0
  44  Cabinet         1.500          2.113          1.164          0              0              0
  45  Cabinet         1.219          2.010          0.591          0              0              0
  46  Cabinet         1.219          0.388          2.105          0              0              0
  47  Cabinet         1.219          0.553          0.591          0              0              0
  48  Cabinet         -0.913         2.113          1.164          0              0              0
  49  Cabinet         -0.633         0.388          0.627          0              0              0
  50  Cabinet         -0.913         2.050          -0.329         0              0              0
  51  Cabinet         -0.913         2.113          0.583          0              0              0
  52  Cabinet         -0.913         2.113          2.082          0              0              0
  53  Cabinet         -0.913         2.113          1.207          0              0              0
  54  Cabinet         1.500          2.113          2.082          0              0              0
  55  Cabinet         1.500          2.113          1.207          0              0              0
  56  Cabinet         1.500          1.810          2.691          0              0              0
  57  Cabinet         1.500          1.810          2.101          0              0              0
  58  Cabinet         -0.633         0.388          2.105          0              0              0
  59  Cabinet         -0.911         1.810          2.700          0              180            0
  60  Drawer          -0.783         0.774          0.915          0              180            0
  61  StoveBurner     -1.108         0.922          1.865          0              0              0
  62  CounterTop      -0.972         0.973          0.921          0              0              0
  63  Cabinet         1.219          0.388          0.631          0              0              0
  64  Sink            1.544          0.869          1.639          0              180            0
  65  StoveBurner     -0.832         0.922          1.865          0              0              0
  66  StoveBurner     -0.831         0.922          1.470          0              0              0
  67  Drawer          1.370          0.774          0.916          0              0              0
  68  Cabinet         -0.911         1.810          2.111          0              180            0
  69  Fridge          -1.001         0.0            0.119          0              0              0
  70  StoveKnob       -0.648         0.926          1.923          0              270            0
  71  StoveKnob       -0.648         0.926          1.363          0              270            0
  72  StoveKnob       -0.648         0.926          1.513          0              270            0
  73  StoveKnob       -0.648         0.926          1.763          0              270            0
  74  Toaster         -1.002         0.926          2.561          0              90             0
  75  GarbageCan      1.451          -0.029         2.912          0              0              0
  76  Microwave       1.632          1.480          1.645          0              270            0
  77  Window          0.224          1.601          3.509          90             0              0
  78  CoffeeMachine   1.692          0.926          2.453          0              270            0
  79  SinkBasin       1.461          0.833          1.369          0              180            0
  80  LightSwitch     0.451          1.412          -1.674         0              0              0
  81  Faucet          1.707          0.925          1.363          0              270            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn right to the sink | STEP 2: Grab a knife that's behind the sink | STEP 3: Turn around and head to the counter to the right of the oven | STEP 4: Cut the loaf of bread into slices | STEP 5: Place the knife down on the counter | STEP 6: Grab a slice of bread | STEP 7: Turn around and head to the microwave | STEP 8: Heat the bread in the microwave and then take it out | STEP 9: Turn left and head to the trash can | STEP 10: Throw the bread into the trash can | END