Task: pick up knife, cut bread, cook in microwave, place bread 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           -0.25          0.900          0.0            0              180            0
   1  ButterKnife     2.488          0.911          1.299          0              0              0              72
   2  Spoon           2.837          0.772          1.160          0              0              0              81
   3  Spatula         -0.839         0.835          -1.308         0              90             0              96
   4  Spatula         -0.103         0.926          1.214          0              90             0              48
   5  Plate           0.888          0.914          -0.430         0              0              0              37
   6  Plate           2.715          1.566          -0.709         0              0              0              92
   7  Egg             2.591          0.764          -0.535         0              0              0              92
   8  Knife           0.053          0.798          -0.651         0              180            0              94
   9  Knife           0.888          0.944          -0.6           0              0              0              37
  10  SaltShaker      0.290          1.651          -0.771         0              180            0              77
  11  Bread           -0.246         0.969          1.129          0              0              0              48
  12  Lettuce         1.155          0.992          1.383          0              0              0              72
  13  Lettuce         1.141          0.992          -0.769         0              0              0              37
  14  SoapBottle      -0.734         0.826          -1.183         0              0              0              96
  15  Plate           1.955          0.914          1.468          0              0              0              72
  16  Fork            2.124          0.772          1.198          0              270            0              68
  17  Pot             1.688          0.915          1.214          0              0              0              72
  18  Bread           1.422          0.969          1.468          0              0              0              72
  19  Egg             0.349          0.949          -0.302         0              0              0              37
  20  Kettle          0.281          0.964          1.082          0              0              0              43
  21  Tomato          -1.933         0.455          1.375          0              270            0              90
  22  Cup             -0.734         0.818          -1.328         0              0              0              96
  23  Spatula         1.688          0.926          1.044          0              0              0              72
  24  Apple           2.754          0.980          1.214          0              0              0              72
  25  Pan             0.281          0.964          1.347          0              0              0              52
  26  Lettuce         -0.198         0.992          1.383          0              0              0              48
  27  SaltShaker      -0.103         0.908          1.044          0              0              0              48
  28  Knife           0.634          0.944          -0.769         0              0              0              37
  29  Potato          2.777          1.323          -0.644         0              0              0              92
  30  PepperShaker    1.597          1.650          1.470          0              0              0              60
  31  ButterKnife     -0.911         0.820          -1.257         0              90             0              96
  32  Bowl            2.838          1.017          -0.644         0              0              0              92
  33  DishSponge      1.175          0.771          1.236          0              0              0              82
  34  Spoon           1.140          0.773          -0.498         0              180            0              56
  35  Mug             -0.734         0.815          -1.038         0              0              0              96
  36  Sink            0.050          0.902          -0.648         0              0              0
  37  CounterTop      1.358          0.947          -0.600         0              0              0
  38  Cabinet         2.986          2.009          1.304          0              0              0
  39  Cabinet         1.022          2.009          -0.607         0              180            0
  40  StoveBurner     0.678          0.923          1.082          0              0              0
  41  Cabinet         2.371          0.402          0.995          0              0              0
  42  Drawer          -0.125         0.792          0.995          0              0              0
  43  StoveBurner     0.281          0.923          1.082          0              0              0
  44  Cabinet         1.025          0.402          0.995          0              0              0
  45  Cabinet         1.023          0.402          -0.296         0              180            0
  46  Cabinet         0.974          2.259          1.304          0              0              0
  47  Cabinet         0.979          2.009          -0.607         0              180            0
  48  CounterTop      -0.158         0.947          1.299          0              0              0
  49  Cabinet         1.725          2.009          1.304          0              0              0
  50  Drawer          2.205          0.792          -0.294         0              180            0
  51  Drawer          1.869          0.792          -0.294         0              180            0
  52  StoveBurner     0.281          0.923          1.347          0              0              0
  53  Drawer          2.512          0.792          0.995          0              0              0
  54  Cabinet         1.673          0.402          -0.296         0              180            0
  55  Drawer          1.524          0.792          0.995          0              0              0
  56  Drawer          1.174          0.792          -0.294         0              180            0
  57  Cabinet         1.720          0.402          0.995          0              0              0
  58  Cabinet         2.348          2.009          -0.607         0              180            0
  59  Cabinet         1.676          2.009          -0.607         0              180            0
  60  Cabinet         1.673          2.009          1.304          0              0              0
  61  Cabinet         2.326          2.009          1.304          0              0              0
  62  Cabinet         2.370          2.009          1.304          0              0              0
  63  Cabinet         0.021          2.009          1.304          0              0              0
  64  Cabinet         1.025          2.009          1.304          0              0              0
  65  Cabinet         -0.274         0.402          0.995          0              0              0
  66  Cabinet         1.675          0.402          0.995          0              0              0
  67  Drawer          1.524          0.792          -0.294         0              180            0
  68  Drawer          2.187          0.792          0.995          0              0              0
  69  Cabinet         2.977          0.402          0.995          0              0              0
  70  Drawer          1.862          0.792          0.995          0              0              0
  71  Cabinet         0.072          2.259          1.304          0              0              0
  72  CounterTop      1.917          0.947          1.299          0              0              0
  73  Cabinet         2.328          0.402          0.995          0              0              0
  74  Cabinet         1.723          2.009          -0.607         0              180            0
  75  StoveBurner     0.677          0.923          1.345          0              0              0
  76  Cabinet         0.355          2.009          -0.607         0              180            0
  77  Cabinet         0.332          2.009          -0.607         0              180            0
  78  Cabinet         2.349          0.402          -0.296         0              180            0
  79  Cabinet         -0.284         2.009          -0.607         0              180            0
  80  Faucet          0.061          0.906          -0.903         0              0              0
  81  Drawer          2.837          0.792          0.995          0              0              0
  82  Drawer          1.175          0.792          0.995          0              0              0
  83  Cabinet         1.723          0.402          -0.296         0              180            0
  84  StoveKnob       0.588          1.093          1.557          287.970        0              0
  85  StoveKnob       0.188          1.093          1.557          287.970        0              0
  86  StoveKnob       0.749          1.093          1.557          287.970        0              0
  87  StoveKnob       0.338          1.093          1.557          287.970        0              0
  88  Toaster         1.934          0.900          -0.717         0              0              0
  89  LightSwitch     -1.662         1.427          1.649          0              180            0
  90  GarbageCan      -1.965         -0.029         1.358          0              270            0
  91  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  92  Fridge          3.043          0.0            -0.709         0              0              0
  93  Window          -2.183         1.501          -0.014         90             270            0
  94  SinkBasin       0.043          0.755          -0.651         0              0              0
  95  Microwave       0.531          1.675          1.437          0              180            0
  96  DiningTable     -0.836         8.404          -1.258         0              0              0
  97  Chair           -1.611         0.002          -1.185         0              45             0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

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