Task: put a slice of bread into the re cycle bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.930          0.75           0              90             0
   1  Potato          0.336          0.938          -1.660         0              0              0              90
   2  Ladle           0.665          1.711          -1.689         0              90             0              84
   3  ButterKnife     -0.935         0.900          0.399          0              0              0              69
   4  ButterKnife     -1.008         0.900          -0.047         0              0              0              69
   5  Kettle          -0.420         0.902          -0.920         0              135            0              64
   6  Kettle          -0.600         0.902          -1.090         0              135            0              58
   7  Spatula         -0.853         0.915          -0.877         0              135            0              69
   8  Spatula         -0.950         0.533          -0.011         0              90             0              96
   9  Spoon           -0.868         0.707          0.839          0              0              0              73
  10  Spoon           -1.080         0.901          0.176          0              0              0              69
  11  Fork            3.07           0.753          0.098          0              90             0              114
  12  Fork            0.661          0.908          0.176          0              36.810         0              100
  13  CellPhone       0.376          0.509          -1.515         0              0              0              55
  14  Mug             3.049          0.966          0.591          0              270            0              112
  15  Mug             0.415          0.895          -1.373         0              0              0              90
  16  Apple           -0.597         0.974          -0.730         0              45             0              69
  17  Lettuce         0.836          0.973          0.180          0              0              0              100
  18  SaltShaker      -0.721         0.896          -0.908         0              45             0              69
  19  Bowl            1.208          1.671          -1.619         0              0              0              60
  20  Bowl            0.608          0.905          0.337          0              36.810         0              100
  21  SoapBottle      0.967          0.917          0.322          0              0              0              100
  22  Tomato          0.672          0.945          0.655          0              36.810         0              100
  23  Egg             3.028          0.799          -0.100         0              90             0              114
  24  Egg             -1.085         1.050          1.523          0              90             0              117
  25  Cup             2.971          0.173          -0.744         0              0              0              81
  26  Cup             0.904          1.672          -1.689         0              0              0              84
  27  Plate           3.173          1.477          -1.235         0              0              0              83
  28  Knife           -0.991         0.352          0.751          0              90             0              70
  29  Knife           3.044          0.926          -0.499         0              0              0              68
  30  Plate           0.967          0.923          0.605          0              0              0              100
  31  Glassbottle     3.113          1.465          -1.746         0              0              0              67
  32  SoapBottle      3.249          1.473          -1.795         0              0              0              67
  33  Potato          1.164          0.749          -1.459         0              0              0              115
  34  Fork            0.533          0.911          0.527          0              0              0              100
  35  Ladle           -0.862         0.937          0.846          0              0              0              73
  36  Pot             0.423          0.900          0.869          0              0              0              100
  37  Kettle          3.028          0.178          0.841          0              0              0              78
  38  Spatula         -0.991         0.146          -0.361         0              90             0              89
  39  Knife           3.044          0.926          -0.300         0              0              0              68
  40  Lettuce         -0.789         0.965          0.176          0              0              0              69
  41  Cup             -1.018         0.995          1.364          0              90             0              117
  42  SaltShaker      -0.006         0.129          -1.328         0              45             0              94
  43  Egg             3.155          0.153          1.573          0              225            0              110
  44  PepperShaker    -0.950         0.702          1.518          0              0              0              62
  45  ButterKnife     1.098          0.908          0.889          0              0              0              100
  46  Apple           3.122          0.974          -0.798         0              0              0              68
  47  Pan             -0.239         0.902          -1.089         0              315            0              98
  48  Bread           1.534          0.972          0.486          0              289.287        0              100
  49  CellPhone       -0.909         0.128          -0.273         0              0              0              89
  50  DishSponge      0.836          0.910          0.889          0              0              0              100
  51  Tomato          0.022          0.937          -1.445         0              0              0              90
  52  Spoon           0.798          0.909          0.426          0              0              0              100
  53  Bowl            0.856          1.671          -1.410         0              0              0              84
  54  Mug             3.197          0.172          0.700          0              0              0              78
  55  Drawer          0.376          0.572          -1.509         0              0              0
  56  Drawer          3.020          0.769          -0.783         0              180            0
  57  Drawer          -0.860         0.577          1.429          0              0              0
  58  StoveBurner     -0.600         0.897          -1.090         0              135            0
  59  Drawer          0.376          0.191          -1.509         0              0              0
  60  Cabinet         1.402          1.874          -1.259         0              0              0
  61  Cabinet         -0.202         1.963          -1.328         0              0              0
  62  Drawer          -0.860         0.765          1.429          0              0              0
  63  Drawer          -0.677         0.765          -0.700         0              0              0
  64  StoveBurner     -0.420         0.897          -0.920         0              135            0
  65  Drawer          3.020          0.769          -0.407         0              180            0
  66  Drawer          -0.860         0.577          0.663          0              0              0
  67  Cabinet         2.819          1.768          -1.850         0              0              0
  68  CounterTop      3.111          0.936          0.019          0              0              0
  69  CounterTop      -1.007         0.935          -0.039         0              0              0
  70  Drawer          -0.860         0.385          0.663          0              0              0
  71  StoveBurner     -0.419         0.897          -1.269         0              315            0
  72  Drawer          -0.047         0.573          -1.324         0              0              0
  73  Drawer          -0.860         0.765          0.663          0              0              0
  74  Drawer          -0.860         0.385          -0.100         0              0              0
  75  Drawer          0.376          0.380          -1.509         0              0              0
  76  Drawer          -0.860         0.765          -0.100         0              0              0
  77  Drawer          0.376          0.765          -1.509         0              0              0
  78  Cabinet         2.849          0.419          0.409          0              0              0
  79  Drawer          -0.047         0.765          -1.324         0              0              0
  80  Cabinet         2.849          0.419          -0.610         0              0              0
  81  Cabinet         2.849          0.419          -0.959         0              0              0
  82  Cabinet         3.069          1.666          -0.709         0              0              0
  83  Cabinet         2.819          1.768          -1.047         0              0              0
  84  Cabinet         0.620          1.874          -1.259         0              0              0
  85  Cabinet         0.140          1.666          -1.559         0              0              0
  86  Cabinet         -0.189         1.666          -1.340         0              0              0
  87  Cabinet         -0.709         1.963          -0.819         0              0              0
  88  Cabinet         -0.920         1.665          -0.620         0              0              0
  89  Drawer          -0.860         0.190          -0.100         0              0              0
  90  CounterTop      0.133          0.935          -1.457         0              0              0
  91  Drawer          3.020          0.769          0.695          0              180            0
  92  Drawer          -0.677         0.577          -0.700         0              0              0
  93  Drawer          -0.860         0.190          1.429          0              0              0
  94  Drawer          -0.047         0.192          -1.324         0              0              0
  95  Drawer          -0.677         0.193          -0.700         0              0              0
  96  Drawer          -0.860         0.577          -0.100         0              0              0
  97  Sink            3.078          0.887          0.086          0              0              0
  98  StoveBurner     -0.239         0.897          -1.089         0              315            0
  99  Drawer          -0.860         0.190          0.663          0              0              0
 100  CounterTop      1.210          0.937          0.463          0              0              0
 101  Drawer          -0.047         0.381          -1.324         0              0              0
 102  Drawer          -0.677         0.387          -0.700         0              0              0
 103  Mirror          -1.295         1.630          0.045          0              0              0
 104  Drawer          -0.860         0.385          1.429          0              0              0
 105  HousePlant      3.196          0.891          -0.368         0              0              0
 106  StoveKnob       -0.090         0.790          -1.009         270            45             0
 107  StoveKnob       -0.280         0.790          -0.819         270            45             0
 108  StoveKnob       -0.180         0.790          -0.920         270            45             0
 109  StoveKnob       -0.370         0.790          -0.720         270            45             0
 110  GarbageCan      3.137          0.025          1.545          0              225            0
 111  Window          3.703          1.675          0.046          90             90             0
 112  CoffeeMachine   3.214          0.890          0.697          0              270            0
 113  LightSwitch     2.592          1.309          -1.880         0              0              0
 114  SinkBasin       3.069          0.736          0.108          0              90             0
 115  Fridge          1.008          0.029          -1.467         0              0              0
 116  Toaster         -1.035         0.873          -0.396         0              90             0
 117  Microwave       -1.034         0.874          1.428          0              90             0
 118  Faucet          3.305          0.886          0.094          270            180            0
 119  NorthWall
 120  EastWall
 121  SouthWall
 122  WestWall

Plan:
STEP 1:  turn and walk  to the counter by the sink  | STEP 2:  pick up the knife that is on the right  | STEP 3:    turn and  walk   to the  Island  | STEP 4:  slice the bread that is on the  Island  | STEP 5:   turn  and walk  to the sink   | STEP 6:  put the knife in   left side cabinet under   the counter  | STEP 7:  turn and walk to the island | STEP 8:  pick up a slice of bread | STEP 9:   turn and walk to the refrigerator  | STEP 10: put the slice of bread into the refrigerator  take a slice of bread out of the refrigerator  | STEP 11:  turn and walk to the  re cycle  can  in the corner  | STEP 12: throw  the piece of bread into the re cycle can | END