Task: Slice a loaf of bread, throwing a slice of bread and the knife in 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           1.75           0.900          -2.0           0              270            0
   1  Statue          -0.059         1.110          -0.506         0              90             0              61
   2  CreditCard      0.711          0.907          -2.714         0              0              0              63
   3  Egg             0.840          0.945          -2.253         0              0              0              63
   4  Tomato          -1.797         0.808          -1.328         0              90             0              96
   5  SoapBottle      1.582          0.554          -2.562         0              180            0              91
   6  SoapBottle      1.584          0.881          -2.617         0              180            0              88
   7  SaltShaker      1.582          0.549          -2.459         0              180            0              91
   8  PepperShaker    1.122          0.477          -2.380         0              0              0              69
   9  Bread           -0.995         0.983          -2.560         0              0              0              86
  10  Bread           1.098          0.983          -2.330         0              0              0              63
  11  Lettuce         -2.081         1.582          0.925          0              90             0              94
  12  Lettuce         0.355          1.191          -0.506         0              0              0              61
  13  Knife           -1.908         0.795          -1.414         0              90             0              96
  14  Knife           0.355          1.136          -0.001         0              0              0              61
  15  Fork            -1.856         0.911          -0.698         0              0              0              86
  16  Fork            -1.852         0.770          -1.760         0              180            0              96
  17  Spoon           0.892          0.646          -2.417         0              0              0              66
  18  Mug             -1.805         0.131          -1.156         0              90             0              62
  19  Mug             -0.898         1.651          -2.532         0              180            0              75
  20  Spatula         0.582          0.925          -2.484         0              0              0              63
  21  Spatula         -1.654         0.809          -0.054         0              0              0              60
  22  ButterKnife     -0.335         1.111          0.251          0              0              0              61
  23  Glassbottle     1.686          0.881          -2.590         0              180            0              88
  24  Glassbottle     -1.512         1.659          -2.677         0              0              0              77
  25  DishSponge      -1.963         0.769          -1.501         0              90             0              96
  26  Book            0.155          1.1            0.617          0              315            0              61
  27  Glassbottle     -1.797         0.770          -1.673         0              90             0              96
  28  Knife           -1.852         0.795          -1.587         0              0              0              96
  29  Bread           -0.522         1.170          -0.028         0              0              0              61
  30  Fork            -1.738         0.479          -0.051         0              180            0              76
  31  Potato          -2.100         0.941          -0.884         0              180            0              86
  32  SoapBottle      0.450          0.141          -2.288         0              0              0              78
  33  Kettle          -0.036         0.950          -2.372         0              270            0              56
  34  Pan             -0.465         0.950          -2.576         0              90             0              70
  35  Plate           -0.059         1.108          -0.001         0              0              0              61
  36  Tomato          -2.070         1.348          0.925          0              90             0              94
  37  Vase            -0.473         1.113          -0.759         0              0              0              61
  38  Egg             -2.037         0.833          1.168          0              90             0              94
  39  CreditCard      -1.781         0.475          -0.342         0              90             0              76
  40  Statue          -0.335         1.110          0.757          0              0              0              61
  41  WineBottle      2.096          0.881          -2.563         0              180            0              88
  42  Pot             -0.335         1.115          -0.506         0              0              0              61
  43  Spatula         -1.774         0.926          -2.366         0              90             0              86
  44  PaperTowelRoll  0.969          1.014          -2.560         0              0              0              63
  45  Cup             -1.129         1.654          -2.676         0              0              0              75
  46  Vase            -1.438         0.909          -2.406         0              0              0              86
  47  Bowl            0.839          1.657          -2.636         0              0              0              83
  48  SaltShaker      -1.605         0.132          -1.623         0              90             0              62
  49  PepperShaker    1.993          0.877          -2.590         0              180            0              88
  50  Lettuce         -2.080         0.620          1.003          0              90             0              94
  51  ButterKnife     -0.197         1.111          -0.253         0              0              0              61
  52  Apple           -1.143         0.961          -2.483         0              0              0              86
  53  DishSponge      -1.705         0.135          -1.273         0              90             0              62
  54  Spoon           1.066          0.316          -2.334         0              0              0              65
  55  Mug             -0.173         1.785          -2.514         0              0              0              87
  56  StoveBurner     -0.036         0.915          -2.372         0              0              0
  57  Drawer          0.949          0.832          -2.197         0              0              0
  58  Drawer          -1.560         0.839          0.204          0              90             0
  59  StoveBurner     -0.465         0.915          -2.371         0              180            0
  60  Drawer          -1.560         0.839          -0.197         0              90             0
  61  CounterTop      -0.079         1.147          -0.001         0              0              0
  62  Cabinet         -1.549         0.494          -1.964         0              90             0
  63  CounterTop      0.693          0.946          -2.483         0              0              0
  64  StoveBurner     -0.036         0.915          -2.576         0              0              0
  65  Drawer          0.949          0.393          -2.200         0              0              0
  66  Drawer          0.949          0.708          -2.200         0              0              0
  67  Cabinet         -1.549         0.494          0.379          0              90             0
  68  StoveKnob       -0.022         0.881          -2.187         45             0              0
  69  Drawer          0.949          0.560          -2.201         0              0              0
  70  StoveBurner     -0.465         0.915          -2.575         0              180            0
  71  Window          -2.230         1.429          -1.203         0              0              0
  72  StoveKnob       -0.483         0.881          -2.187         45             0              0
  73  Sink            -1.899         0.964          -1.5           0              90             0
  74  StoveKnob       -0.328         0.881          -2.187         45             0              0
  75  Cabinet         -0.727         2.015          -2.460         0              0              0
  76  Drawer          -1.560         0.655          -0.196         0              90             0
  77  Cabinet         -1.685         2.015          -2.461         0              0              0
  78  Cabinet         0.680          0.494          -2.200         0              0              0
  79  Cabinet         -1.179         0.494          -2.200         0              0              0
  80  Cabinet         -1.849         2.015          0.379          0              90             0
  81  Drawer          0.949          0.221          -2.200         0              0              0
  82  StoveKnob       -0.183         0.881          -2.187         45             0              0
  83  Cabinet         0.719          2.015          -2.460         0              0              0
  84  Drawer          -1.560         0.331          -0.196         0              90             0
  85  Cabinet         0.680          2.015          -2.460         0              0              0
  86  CounterTop      -1.868         0.946          -1.205         0              0              0
  87  Microwave       -0.236         1.689          -2.525         0              0              0
  88  Shelf           1.751          0.880          -2.560         0              0              0
  89  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  90  Toaster         -1.835         0.900          0.134          0              90             0
  91  Shelf           1.750          0.552          -2.559         0              0              0
  92  GarbageCan      -1.935         -0.002         2.029          0              270            0
  93  Shelf           1.750          0.172          -2.559         0              0              0
  94  Fridge          -2.096         0.0            1.088          0              0              0
  95  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  96  SinkBasin       -1.908         0.759          -1.488         0              90             0
  97  LightSwitch     2.329          1.309          -0.159         0              270            0
  98  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  99  Stool           0.702          0.000          -0.514         1.202          65.108         0
 100  Stool           0.743          0.000          0.563          1.227          106.706        0
 101  Faucet          -2.070         1.132          -1.514         0              0              0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Walk around the kitchen island to face the middle of it. | STEP 2: Pick up the dinner knife in the middle of the kitchen island. | STEP 3: Walk around the kitchen island, hanging a left to reach the counter on the right of the brown shelf. | STEP 4: Slice the loaf of bread on the counter with the dinner knife. | STEP 5: Turn right to walk around the island, hanging a right, then stopping at the trash can to the right of the fridge. | STEP 6: Put the dinner knife in the trash can. | STEP 7: Turn left, walking back to the counter by hanging a left around the island. | STEP 8: Pick up a slice of bread from the counter. | STEP 9: Turn right, then turn right again at the island to reach the fridge. | STEP 10: Chill the bread slice in the fridge, removing it afterwards. | STEP 11: Turn to face the trash can next to the fridge. | STEP 12: Put the slice of bread in the trash can. | END