Task: To heat a slice of bread as well as place it 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           -0.75          0.900          1.25           0              180            0
   1  Potato          1.739          0.110          1.779          0              270            0              58
   2  ButterKnife     0.476          0.910          1.092          0              90             0              40
   3  Fork            0.963          0.761          -1.544         0              270            0              59
   4  Spoon           1.501          0.911          1.092          0              180            0              40
   5  Spoon           1.529          0.911          0.415          0              90             0              40
   6  Cup             -0.692         1.387          -1.594         0              0              0              67
   7  Knife           1.762          0.943          0.467          0              270            0              40
   8  SoapBottle      1.805          1.643          -1.724         0              0              0              54
   9  Tomato          1.684          0.974          0.518          0              90             0              40
  10  SaltShaker      1.844          2.131          1.083          0              0              0              47
  11  PepperShaker    1.841          1.630          -1.501         0              0              0              53
  12  Lettuce         1.865          1.011          -1.717         0              90             0              44
  13  Bread           0.220          0.987          0.739          0              90             0              40
  14  Mug             1.805          2.132          0.842          0              0              0              48
  15  Mug             1.738          1.010          -0.676         0              270            0              64
  16  Apple           1.726          0.968          -1.460         0              90             0              44
  17  Apple           1.800          0.127          1.636          0              270            0              58
  18  Plate           1.802          1.647          -0.000         0              0              0              50
  19  SoapBottle      1.839          0.908          0.570          0              90             0              40
  20  Cup             1.935          0.909          -1.545         0              90             0              44
  21  Egg             1.726          0.946          -1.374         0              90             0              44
  22  Fork            0.356          0.911          -1.352         0              180            0              44
  23  Ladle           1.805          1.698          -0.401         0              0              0              51
  24  Apple           0.476          0.967          1.269          0              90             0              40
  25  SaltShaker      1.840          1.628          -0.973         0              0              0              52
  26  Pan             1.543          0.909          -0.320         0              90             0              43
  27  Tomato          1.656          0.975          -1.288         0              90             0              44
  28  Spatula         0.732          0.925          1.004          0              0              0              40
  29  Potato          1.839          0.950          0.311          0              90             0              40
  30  Knife           0.988          0.943          1.004          0              180            0              40
  31  ButterKnife     1.796          0.911          -1.631         0              90             0              44
  32  Bread           1.615          0.977          0.761          0              50.525         0              40
  33  Lettuce         0.856          0.989          1.120          0              270            1.809          40
  34  PepperShaker    1.844          2.131          1.275          0              180            0              47
  35  Pot             1.807          0.909          -0.320         0              180            0              42
  36  DishSponge      1.770          1.634          -1.378         0              0              0              53
  37  Spoon           1.165          0.750          -1.494         0              342.866        0              59
  38  Bowl            0.193          0.900          1.170          0              0              0              40
  39  Mug             -0.741         0.745          -1.629         0              0              0              67
  40  CounterTop      0.989          0.946          1.016          0              90             0
  41  StoveBurner     1.807          0.907          0.075          0              180            0
  42  StoveBurner     1.807          0.907          -0.320         0              180            0
  43  StoveBurner     1.543          0.907          -0.320         0              90             0
  44  CounterTop      0.989          0.946          -1.516         0              90             0
  45  Sink            1.100          0.906          -1.599         0              0              0
  46  StoveBurner     1.548          0.907          0.075          0              180            0
  47  Cabinet         1.658          2.299          1.313          0              0              0
  48  Cabinet         1.658          2.299          0.686          0              0              0
  49  Cabinet         1.658          2.049          0.673          0              0              0
  50  Cabinet         1.658          2.059          0.193          0              0              0
  51  Cabinet         1.658          2.059          -0.593         0              0              0
  52  Cabinet         1.658          2.049          -0.606         0              0              0
  53  Cabinet         1.658          2.049          -1.206         0              0              0
  54  Cabinet         1.658          2.049          -1.893         0              0              0
  55  Toaster         0.131          0.900          -1.589         0              0              0
  56  Window          -0.372         1.588          3.349          90             0              0
  57  Window          0.782          1.741          -1.893         90             0              0
  58  GarbageCan      1.770          -0.029         1.685          0              270            0
  59  SinkBasin       1.091          0.740          -1.599         0              0              0
  60  StoveKnob       1.364          0.821          0.086          48.421         270            0
  61  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  62  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  63  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  64  Microwave       1.752          0.900          -0.843         0              270            0
  65  LightSwitch     2.0            1.261          3.094          0              270            0
  66  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  67  Fridge          -0.533         0.0            -1.554         0              0              0
  68  Chair           1.068          0.000          1.752          0              191.622        0
  69  Faucet          1.110          1.138          -1.764         0              270            0
  70  Chair           0.357          0.000          1.710          0              178.899        0
  71  NorthWall
  72  EastWall
  73  SouthWall
  74  WestWall

Plan:
STEP 1: Turn left and walk across the room to face the counter to the left of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Cut the loaf of bread on the counter. | STEP 4: Turn to the left to face the counter. | STEP 5: Place the knife below the other knife on the counter. | STEP 6: Turn right to face the bread on the counter. | STEP 7: Pick up a slice of bread on the counter. | STEP 8: Take a step to the right to face the microwave on the counter. | STEP 9: Heat the slice of bread in the microwave and then remove it. | STEP 10: Turn around and walk forward and then right around the counter to face the trash can on the opposite end of the room. | STEP 11: Place the slice of bread in the trash can. | END