Task: pick up knife, cut bread, cook bread in microwave, place in 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          0.75           0              180            0
   1  Pan             0.678          0.964          1.082          0              0              0              47
   2  Pan             0.634          0.911          -0.515         0              0              0              44
   3  Potato          0.363          1.819          1.423          0              180            0              102
   4  Potato          2.838          1.598          -0.775         0              0              0              99
   5  Kettle          0.707          2.154          1.506          0              0              0              53
   6  ButterKnife     1.155          0.911          1.214          0              0              0              79
   7  ButterKnife     -0.151         0.911          1.383          0              0              0              55
   8  Spoon           1.155          0.912          1.129          0              0              0              79
   9  Spatula         2.156          0.926          -0.430         0              0              0              44
  10  Plate           1.955          0.914          1.214          0              0              0              79
  11  Egg             0.466          1.822          1.488          0              180            0              102
  12  Egg             -0.017         0.803          -0.541         0              0              0              101
  13  Knife           -0.785         0.853          -1.473         0              0              0              103
  14  Tomato          1.422          0.942          1.553          0              0              0              79
  15  Bowl            1.210          0.112          -0.421         0              180            0              52
  16  Bowl            1.525          0.112          1.193          0              0              0              73
  17  PepperShaker    1.798          1.650          -0.658         0              180            0              81
  18  Lettuce         1.155          0.992          1.468          0              0              0              79
  19  Lettuce         -0.198         0.992          1.129          0              0              0              55
  20  Mug             -0.157         0.760          -0.596         0              180            0              101
  21  SoapBottle      -0.198         0.917          1.553          0              0              0              55
  22  Plate           2.488          0.914          1.129          0              0              0              79
  23  Fork            2.249          0.772          1.198          0              270            0              75
  24  Pot             0.297          0.960          1.346          0              0              0              59
  25  Bread           1.688          0.969          1.468          0              0              0              79
  26  Egg             -0.766         0.858          -1.206         0              90             0              103
  27  Kettle          0.281          0.964          1.082          0              0              0              50
  28  Tomato          -0.621         0.852          -1.155         0              90             0              103
  29  Cup             2.591          0.723          -0.473         0              0              0              99
  30  Spatula         1.141          0.926          -0.769         0              180            0              44
  31  Apple           2.900          1.087          -0.578         0              0              0              99
  32  Pan             2.715          1.288          -0.644         0              0              0              99
  33  Lettuce         2.838          1.644          -0.578         0              0              0              99
  34  SaltShaker      0.937          1.651          -0.693         0              180            0              54
  35  Knife           -0.839         0.853          -1.257         0              90             0              103
  36  Potato          0.123          0.800          -0.762         0              90             0              101
  37  PepperShaker    -0.734         0.817          -1.328         0              0              0              103
  38  ButterKnife     0.053          0.765          -0.596         0              0              0              101
  39  Bowl            2.221          0.909          1.214          0              0              0              79
  40  DishSponge      1.139          0.114          1.117          0              0              0              73
  41  Spoon           2.837          0.772          1.198          0              0              0              88
  42  Mug             2.838          0.721          -0.504         0              0              0              99
  43  Sink            0.050          0.902          -0.648         0              0              0
  44  CounterTop      1.358          0.947          -0.600         0              0              0
  45  Cabinet         2.986          2.009          1.304          0              0              0
  46  Cabinet         1.022          2.009          -0.607         0              180            0
  47  StoveBurner     0.678          0.923          1.082          0              0              0
  48  Cabinet         2.371          0.402          0.995          0              0              0
  49  Drawer          -0.125         0.792          0.995          0              0              0
  50  StoveBurner     0.281          0.923          1.082          0              0              0
  51  Cabinet         1.025          0.402          0.995          0              0              0
  52  Cabinet         1.023          0.402          -0.296         0              180            0
  53  Cabinet         0.974          2.259          1.304          0              0              0
  54  Cabinet         0.979          2.009          -0.607         0              180            0
  55  CounterTop      -0.158         0.947          1.299          0              0              0
  56  Cabinet         1.725          2.009          1.304          0              0              0
  57  Drawer          2.205          0.792          -0.294         0              180            0
  58  Drawer          1.869          0.792          -0.294         0              180            0
  59  StoveBurner     0.281          0.923          1.347          0              0              0
  60  Drawer          2.512          0.792          0.995          0              0              0
  61  Cabinet         1.673          0.402          -0.296         0              180            0
  62  Drawer          1.524          0.792          0.995          0              0              0
  63  Drawer          1.174          0.792          -0.294         0              180            0
  64  Cabinet         1.720          0.402          0.995          0              0              0
  65  Cabinet         2.348          2.009          -0.607         0              180            0
  66  Cabinet         1.676          2.009          -0.607         0              180            0
  67  Cabinet         1.673          2.009          1.304          0              0              0
  68  Cabinet         2.326          2.009          1.304          0              0              0
  69  Cabinet         2.370          2.009          1.304          0              0              0
  70  Cabinet         0.021          2.009          1.304          0              0              0
  71  Cabinet         1.025          2.009          1.304          0              0              0
  72  Cabinet         -0.274         0.402          0.995          0              0              0
  73  Cabinet         1.675          0.402          0.995          0              0              0
  74  Drawer          1.524          0.792          -0.294         0              180            0
  75  Drawer          2.187          0.792          0.995          0              0              0
  76  Cabinet         2.977          0.402          0.995          0              0              0
  77  Drawer          1.862          0.792          0.995          0              0              0
  78  Cabinet         0.072          2.259          1.304          0              0              0
  79  CounterTop      1.917          0.947          1.299          0              0              0
  80  Cabinet         2.328          0.402          0.995          0              0              0
  81  Cabinet         1.723          2.009          -0.607         0              180            0
  82  StoveBurner     0.677          0.923          1.345          0              0              0
  83  Cabinet         0.355          2.009          -0.607         0              180            0
  84  Cabinet         0.332          2.009          -0.607         0              180            0
  85  Cabinet         2.349          0.402          -0.296         0              180            0
  86  Cabinet         -0.284         2.009          -0.607         0              180            0
  87  Faucet          0.061          0.906          -0.903         0              0              0
  88  Drawer          2.837          0.792          0.995          0              0              0
  89  Drawer          1.175          0.792          0.995          0              0              0
  90  Cabinet         1.723          0.402          -0.296         0              180            0
  91  StoveKnob       0.588          1.093          1.557          287.970        0              0
  92  StoveKnob       0.188          1.093          1.557          287.970        0              0
  93  StoveKnob       0.749          1.093          1.557          287.970        0              0
  94  StoveKnob       0.338          1.093          1.557          287.970        0              0
  95  Toaster         1.934          0.900          -0.717         0              0              0
  96  LightSwitch     -1.662         1.427          1.649          0              180            0
  97  GarbageCan      -1.965         -0.029         1.358          0              270            0
  98  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  99  Fridge          3.043          0.0            -0.709         0              0              0
 100  Window          -2.183         1.501          -0.014         90             270            0
 101  SinkBasin       0.043          0.755          -0.651         0              0              0
 102  Microwave       0.531          1.675          1.437          0              180            0
 103  DiningTable     -0.836         8.404          -1.258         0              0              0
 104  Chair           -1.611         0.002          -1.185         0              45             0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: turn right, straight, left to the sink | STEP 2: pick up knife from the sink | STEP 3: turn left, turn left, turn right, straight, left to the counter | STEP 4: cut the bread with the knife | STEP 5: turn around, turn right, turn right to the microwave | STEP 6: open door, place knife on shelf, close door | STEP 7: turn right, straight, left to the counter | STEP 8: pick up bread from the counter | STEP 9: turn around, turn right, turn right to the microwave | STEP 10: open door, place bread on shelf, close door, cook, open door, remove bread, close door | STEP 11: turn left, turn right, walk straight, turn left to the trash can | STEP 12: place bread in to the trash can | END