Task: Throw the knife and bread into the trash bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.930          1.0            0              0              0
   1  Ladle           -0.868         0.363          -0.011         0              0              0              71
   2  Ladle           0.836          0.947          0.747          0              90             0              97
   3  DishSponge      -0.868         0.517          1.605          0              0              0              54
   4  DishSponge      0.336          0.899          -1.660         0              0              0              116
   5  ButterKnife     -0.868         0.326          1.430          0              0              0              101
   6  ButterKnife     3.044          0.900          -0.300         0              0              0              65
   7  Glassbottle     3.152          0.748          0.231          0              90             0              111
   8  Kettle          -0.419         0.902          -1.269         0              315            0              68
   9  Spoon           3.277          0.901          -0.599         0              0              0              65
  10  Fork            0.105          0.900          -1.430         0              225            0              87
  11  Mug             0.929          0.708          -1.354         0              270            0              112
  12  Mug             0.851          1.068          -1.475         0              0              0              112
  13  Bread           -0.789         0.979          0.623          0              0              0              66
  14  Lettuce         -0.789         0.965          0.846          0              0              0              66
  15  Lettuce         -1.080         0.965          0.399          0              0              0              66
  16  SaltShaker      1.255          1.671          -1.480         0              0              0              57
  17  PepperShaker    -0.115         1.259          -1.519         0              45             0              83
  18  Bowl            2.971          0.172          -0.356         0              0              0              77
  19  Bowl            0.710          0.905          0.527          0              0              0              97
  20  SoapBottle      -0.789         0.909          0.399          0              0              0              66
  21  SoapBottle      0.022          0.909          -1.803         0              0              0              87
  22  Egg             1.086          0.763          -1.433         0              0              0              112
  23  Egg             2.987          0.799          0.165          0              90             0              111
  24  Plate           0.808          1.687          -1.480         0              0              0              81
  25  Plate           3.140          0.190          0.700          0              0              0              75
  26  Knife           -0.789         0.925          -0.494         0              90             0              66
  27  Plate           0.967          0.923          0.464          0              0              0              97
  28  Glassbottle     3.031          1.465          -1.333         0              0              0              80
  29  SoapBottle      2.888          0.909          -0.599         0              0              0              65
  30  Potato          1.164          1.111          -1.448         0              0              0              112
  31  Fork            -0.827         0.131          1.430          0              0              0              90
  32  Ladle           -0.868         0.743          0.839          0              0              0              70
  33  Pot             0.423          0.900          0.869          0              0              0              97
  34  Kettle          3.044          1.465          -1.648         0              0              0              64
  35  Spatula         1.098          0.923          0.889          0              0              0              97
  36  Knife           -0.907         0.925          -0.823         0              135            0              66
  37  Lettuce         0.059          0.965          -1.383         0              45             0              87
  38  Cup             3.028          0.745          -0.100         0              90             0              111
  39  SaltShaker      -0.950         0.322          0.163          0              0              0              71
  40  Egg             1.229          0.963          0.464          0              0              0              97
  41  PepperShaker    1.303          1.671          -1.689         0              0              0              57
  42  ButterKnife     -0.803         0.900          -0.827         0              45             0              66
  43  Apple           1.008          1.321          -1.475         0              0              0              112
  44  Pan             -0.239         0.902          -1.089         0              315            0              95
  45  Bread           0.494          0.989          0.301          0              36.810         0              97
  46  CellPhone       -0.950         0.703          1.518          0              0              0              59
  47  DishSponge      1.622          0.907          0.180          0              0              0              97
  48  Tomato          3.152          0.784          0.098          0              90             0              111
  49  Spoon           -0.885         0.901          -0.643         0              315            0              66
  50  Bowl            -1.080         0.897          0.176          0              0              0              66
  51  Mug             3.049          0.966          0.591          0              270            0              109
  52  Drawer          0.376          0.572          -1.509         0              0              0
  53  Drawer          3.020          0.769          -0.783         0              180            0
  54  Drawer          -0.860         0.577          1.429          0              0              0
  55  StoveBurner     -0.600         0.897          -1.090         0              135            0
  56  Drawer          0.376          0.191          -1.509         0              0              0
  57  Cabinet         1.402          1.874          -1.259         0              0              0
  58  Cabinet         -0.202         1.963          -1.328         0              0              0
  59  Drawer          -0.860         0.765          1.429          0              0              0
  60  Drawer          -0.677         0.765          -0.700         0              0              0
  61  StoveBurner     -0.420         0.897          -0.920         0              135            0
  62  Drawer          3.020          0.769          -0.407         0              180            0
  63  Drawer          -0.860         0.577          0.663          0              0              0
  64  Cabinet         2.819          1.768          -1.850         0              0              0
  65  CounterTop      3.111          0.936          0.019          0              0              0
  66  CounterTop      -1.007         0.935          -0.039         0              0              0
  67  Drawer          -0.860         0.385          0.663          0              0              0
  68  StoveBurner     -0.419         0.897          -1.269         0              315            0
  69  Drawer          -0.047         0.573          -1.324         0              0              0
  70  Drawer          -0.860         0.765          0.663          0              0              0
  71  Drawer          -0.860         0.385          -0.100         0              0              0
  72  Drawer          0.376          0.380          -1.509         0              0              0
  73  Drawer          -0.860         0.765          -0.100         0              0              0
  74  Drawer          0.376          0.765          -1.509         0              0              0
  75  Cabinet         2.849          0.419          0.409          0              0              0
  76  Drawer          -0.047         0.765          -1.324         0              0              0
  77  Cabinet         2.849          0.419          -0.610         0              0              0
  78  Cabinet         2.849          0.419          -0.959         0              0              0
  79  Cabinet         3.069          1.666          -0.709         0              0              0
  80  Cabinet         2.819          1.768          -1.047         0              0              0
  81  Cabinet         0.620          1.874          -1.259         0              0              0
  82  Cabinet         0.140          1.666          -1.559         0              0              0
  83  Cabinet         -0.189         1.666          -1.340         0              0              0
  84  Cabinet         -0.709         1.963          -0.819         0              0              0
  85  Cabinet         -0.920         1.665          -0.620         0              0              0
  86  Drawer          -0.860         0.190          -0.100         0              0              0
  87  CounterTop      0.133          0.935          -1.457         0              0              0
  88  Drawer          3.020          0.769          0.695          0              180            0
  89  Drawer          -0.677         0.577          -0.700         0              0              0
  90  Drawer          -0.860         0.190          1.429          0              0              0
  91  Drawer          -0.047         0.192          -1.324         0              0              0
  92  Drawer          -0.677         0.193          -0.700         0              0              0
  93  Drawer          -0.860         0.577          -0.100         0              0              0
  94  Sink            3.078          0.887          0.086          0              0              0
  95  StoveBurner     -0.239         0.897          -1.089         0              315            0
  96  Drawer          -0.860         0.190          0.663          0              0              0
  97  CounterTop      1.210          0.937          0.463          0              0              0
  98  Drawer          -0.047         0.381          -1.324         0              0              0
  99  Drawer          -0.677         0.387          -0.700         0              0              0
 100  Mirror          -1.295         1.630          0.045          0              0              0
 101  Drawer          -0.860         0.385          1.429          0              0              0
 102  HousePlant      3.196          0.891          -0.368         0              0              0
 103  StoveKnob       -0.090         0.790          -1.009         270            45             0
 104  StoveKnob       -0.280         0.790          -0.819         270            45             0
 105  StoveKnob       -0.180         0.790          -0.920         270            45             0
 106  StoveKnob       -0.370         0.790          -0.720         270            45             0
 107  GarbageCan      3.137          0.025          1.545          0              225            0
 108  Window          3.703          1.675          0.046          90             90             0
 109  CoffeeMachine   3.214          0.890          0.697          0              270            0
 110  LightSwitch     2.592          1.309          -1.880         0              0              0
 111  SinkBasin       3.069          0.736          0.108          0              90             0
 112  Fridge          1.008          0.029          -1.467         0              0              0
 113  Toaster         -1.035         0.873          -0.396         0              90             0
 114  Microwave       -1.034         0.874          1.428          0              90             0
 115  Faucet          3.305          0.886          0.094          270            180            0
 116
 117  NorthWall
 118  EastWall
 119  SouthWall
 120  WestWall

Plan:
STEP 1: Turn to your left then walk straight, turn left head to the toaster on the counter | STEP 2: Pick up the that is close to the stove | STEP 3: Turn to your right face the island counter | STEP 4: Slice the bread on top of the island counter | STEP 5: Turn to your right then left towards the sink, turn left the face the trash bin on your right | STEP 6: Drop the knife on the trash bin | STEP 7: Turn around to your right, head back to the island counter and face the bread | STEP 8: 
Pick up a slice of bread on the counter | STEP 9: 
Turn around to your left walk few steps and face the microwave | STEP 10: Open the microwave heat the bread inside, take it out and close the microwave | STEP 11: Turn to your left, then turn left again towards the stove then head to the trash bin | STEP 12: 
Drop the bread on the trash bin | END