Task: Putting bread in a 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          2.5            0              90             0
   1  Pan             -1.109         0.930          1.470          0              0              0              42
   2  DishSponge      -1.121         1.500          2.275          0              180            0              71
   3  DishSponge      1.391          0.081          2.392          0              0              0              49
   4  ButterKnife     -1.126         0.937          0.843          0              0              0              65
   5  Spoon           1.597          0.945          1.756          0              90             0              67
   6  Spoon           -0.689         0.747          0.779          0              270            0              63
   7  Spatula         -0.876         0.952          1.076          0              180            0              65
   8  Egg             1.652          1.621          1.651          0              270            0              79
   9  Cup             -1.211         0.936          2.310          0              0              0              40
  10  Plate           1.382          0.105          0.070          0              0              0              50
  11  Tomato          -0.937         0.627          0.348          0              90             0              72
  12  Tomato          -0.971         1.560          0.195          0              90             0              72
  13  Bowl            1.380          1.743          0.066          0              0              0              48
  14  Bowl            -0.971         1.315          0.042          0              90             0              72
  15  SaltShaker      -1.001         1.497          2.553          0              180            0              62
  16  SaltShaker      -0.712         0.934          2.234          0              0              0              40
  17  Mug             -0.877         1.494          -0.034         0              90             0              72
  18  Mug             1.362          0.932          1.007          0              0              0              45
  19  Lettuce         1.456          1.014          1.681          3.862          59.981         0              67
  20  SoapBottle      -0.712         0.937          2.386          0              0              0              40
  21  Bread           -0.923         0.990          2.265          0              302.470        0              40
  22  Fork            1.315          0.945          1.756          0              270            0              67
  23  Tomato          -0.960         0.999          1.076          0              0              0              65
  24  Bowl            1.700          1.944          1.877          0              0              0              57
  25  Pot             -1.109         0.930          1.865          0              0              0              64
  26  Spatula         -0.758         0.761          0.914          0              270            0              63
  27  Knife           -0.876         0.959          0.765          0              0              0              65
  28  SaltShaker      -1.127         0.934          2.234          0              0              0              40
  29  Apple           1.684          1.645          1.808          0              270            0              79
  30  PepperShaker    1.710          1.497          2.585          0              0              0              59
  31  ButterKnife     -0.793         0.937          1.154          0              0              0              65
  32  Potato          -1.126         0.970          1.154          0              0              0              65
  33  Plate           1.391          0.086          0.848          0              0              0              66
  34  DishSponge      -1.126         0.937          0.998          0              0              0              65
  35  Egg             1.597          0.979          1.631          0              180            0              67
  36  Cup             -1.043         0.936          0.843          0              0              0              65
  37  Pan             1.378          1.737          0.392          0              270            0              48
  38  Spoon           1.516          0.939          0.806          0              0              0              45
  39  Mug             -0.964         0.810          0.118          0              90             0              72
  40  CounterTop      -0.973         0.973          2.386          0              0              0
  41  Drawer          -0.783         0.774          2.381          0              180            0
  42  StoveBurner     -1.108         0.922          1.470          0              0              0
  43  Drawer          1.370          0.774          2.391          0              0              0
  44  Stool           -0.748         0.008          3.116          0              0              0
  45  CounterTop      1.504          0.973          2.309          0              0              0
  46  Cabinet         1.219          1.388          0.591          0              0              0
  47  Cabinet         1.500          2.113          1.164          0              0              0
  48  Cabinet         1.219          2.010          0.591          0              0              0
  49  Cabinet         1.219          0.388          2.105          0              0              0
  50  Cabinet         1.219          0.553          0.591          0              0              0
  51  Cabinet         -0.913         2.113          1.164          0              0              0
  52  Cabinet         -0.633         0.388          0.627          0              0              0
  53  Cabinet         -0.913         2.050          -0.329         0              0              0
  54  Cabinet         -0.913         2.113          0.583          0              0              0
  55  Cabinet         -0.913         2.113          2.082          0              0              0
  56  Cabinet         -0.913         2.113          1.207          0              0              0
  57  Cabinet         1.500          2.113          2.082          0              0              0
  58  Cabinet         1.500          2.113          1.207          0              0              0
  59  Cabinet         1.500          1.810          2.691          0              0              0
  60  Cabinet         1.500          1.810          2.101          0              0              0
  61  Cabinet         -0.633         0.388          2.105          0              0              0
  62  Cabinet         -0.911         1.810          2.700          0              180            0
  63  Drawer          -0.783         0.774          0.915          0              180            0
  64  StoveBurner     -1.108         0.922          1.865          0              0              0
  65  CounterTop      -0.972         0.973          0.921          0              0              0
  66  Cabinet         1.219          0.388          0.631          0              0              0
  67  Sink            1.544          0.869          1.639          0              180            0
  68  StoveBurner     -0.832         0.922          1.865          0              0              0
  69  StoveBurner     -0.831         0.922          1.470          0              0              0
  70  Drawer          1.370          0.774          0.916          0              0              0
  71  Cabinet         -0.911         1.810          2.111          0              180            0
  72  Fridge          -1.001         0.0            0.119          0              0              0
  73  StoveKnob       -0.648         0.926          1.923          0              270            0
  74  StoveKnob       -0.648         0.926          1.363          0              270            0
  75  StoveKnob       -0.648         0.926          1.513          0              270            0
  76  StoveKnob       -0.648         0.926          1.763          0              270            0
  77  Toaster         -1.002         0.926          2.561          0              90             0
  78  GarbageCan      1.451          -0.029         2.912          0              0              0
  79  Microwave       1.632          1.480          1.645          0              270            0
  80  Window          0.224          1.601          3.509          90             0              0
  81  CoffeeMachine   1.692          0.926          2.453          0              270            0
  82  SinkBasin       1.461          0.833          1.369          0              180            0
  83  LightSwitch     0.451          1.412          -1.674         0              0              0
  84  Faucet          1.707          0.925          1.363          0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Head to the left of the oven | STEP 2: Grab the knife off of the counter | STEP 3: Turn right and head to the counter to the right of the oven | STEP 4: Slice the loaf of bread into slices | STEP 5: Place the knife on the counter | STEP 6: Grab a slice of bread | STEP 7: Turn around and head to the microwave | STEP 8: Put the bread in the microwave and cook it. Grab the bread and close the microwave. | STEP 9: Turn left and stop at the trash can | STEP 10: Throw the bread in the trash can | END