Task: Throw out a microwaved slice of bread.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          2.25           0              0              0
   1  Potato          0.214          0.949          0.041          0              0              0              77
   2  CellPhone       -1.668         0.909          -1.610         0              0              0              69
   3  CellPhone       -0.844         0.909          -1.513         0              0              0              69
   4  DishSponge      -1.814         0.911          -0.964         0              0              0              69
   5  DishSponge      -0.213         0.925          0.041          0              0              0              77
   6  Fork            -0.213         0.926          -0.190         0              0              0              77
   7  Spatula         -0.261         0.775          -1.324         0              270            0              93
   8  Spatula         1.559          0.131          0.116          0              270            0              52
   9  Pot             -1.750         1.473          -0.081         0              90             0              92
  10  Pot             -1.750         1.680          -0.175         0              90             0              92
  11  Egg             -1.753         1.086          0.107          0              90             0              92
  12  Egg             -0.213         0.982          0.506          0              0              0              77
  13  Cup             0.083          0.758          -1.380         0              0              0              93
  14  Knife           1.714          0.604          -0.092         0              270            0              54
  15  SoapBottle      1.962          1.662          -1.053         0              270            0              57
  16  PepperShaker    0.000          0.921          0.738          0              0              0              77
  17  Bread           -1.750         1.549          0.201          0              90             0              92
  18  Bread           0.107          1.006          0.273          0              0              0              77
  19  Lettuce         -0.213         1.002          0.970          0              0              0              77
  20  Lettuce         -0.213         1.002          0.273          0              0              0              77
  21  Mug             1.355          0.955          -1.362         0              0              0              91
  22  Apple           -1.721         0.616          0.107          0              90             0              92
  23  Apple           -0.088         0.813          -1.490         0              0              0              93
  24  SoapBottle      -1.462         0.915          -1.610         0              0              0              69
  25  Cup             -0.175         0.758          -1.380         0              0              0              93
  26  Pot             -0.305         0.118          -1.472         0              0              0              48
  27  Fork            0.321          0.926          0.273          0              0              0              77
  28  Ladle           1.661          0.270          0.599          0              0              0              63
  29  Kettle          0.000          0.926          1.202          0              0              0              77
  30  Egg             1.640          0.968          1.032          0              0              0              69
  31  Plate           -1.237         1.678          -1.614         0              0              0              71
  32  Pan             1.975          0.938          0.819          0              180            0              79
  33  Lettuce         -0.320         1.002          -0.190         0              0              0              77
  34  Spatula         1.815          0.594          0.531          0              0              0              73
  35  Apple           2.025          0.964          0.182          0              0              0              69
  36  Knife           0.000          0.947          0.738          0              0              0              77
  37  SaltShaker      1.712          0.541          1.416          0              0              0              67
  38  PepperShaker    1.095          1.675          -1.652         0              0              0              68
  39  CellPhone       -1.463         0.909          -0.964         0              0              0              69
  40  ButterKnife     1.710          0.695          -0.015         0              0              0              53
  41  Bread           0.107          1.006          0.506          0              0              0              77
  42  Tomato          -1.256         0.966          -1.318         0              0              0              69
  43  Potato          -1.771         1.053          -0.081         0              90             0              92
  44  DishSponge      1.764          0.116          -0.020         0              0              0              52
  45  Spoon           1.714          0.121          0.745          0              270            0              61
  46  Mug             -1.721         0.558          -0.081         0              90             0              92
  47  Bowl            0.138          0.111          -1.534         0              0              0              58
  48  Cabinet         -0.495         0.474          -1.149         0              0              0
  49  Window          -0.010         1.582          -1.821         0              0              0
  50  Drawer          0.805          0.475          -1.159         0              0              0
  51  StoveBurner     1.764          0.902          0.601          0              270            0
  52  Drawer          1.5            0.196          -0.019         0              0              0
  53  Drawer          1.5            0.629          -0.018         0              0              0
  54  Drawer          1.5            0.602          -0.019         0              270            0
  55  StoveBurner     1.975          0.902          0.384          0              270            0
  56  Cabinet         -1.703         2.022          -1.453         0              90             0
  57  Cabinet         1.789          2.019          -0.819         0              270            0
  58  Cabinet         0.494          0.474          -1.149         0              0              0
  59  Cabinet         0.409          0.475          0.444          0              0              0
  60  Drawer          -0.696         0.475          -1.159         0              0              0
  61  Drawer          1.5            0.140          0.599          0              270            0
  62  Cabinet         1.389          0.474          -1.149         0              0              0
  63  Drawer          1.5            0.305          0.600          0              0              0
  64  StoveBurner     1.975          0.902          0.601          0              270            0
  65  Drawer          1.5            0.429          -0.019         0              0              0
  66  StoveBurner     1.764          0.902          0.819          0              270            0
  67  Drawer          1.5            0.519          1.220          0              0              0
  68  Cabinet         1.705          2.019          -1.449         0              0              0
  69  CounterTop      0.002          0.947          -1.513         0              0              0
  70  Drawer          1.5            0.629          0.605          0              0              0
  71  Cabinet         -0.627         2.019          -1.449         0              0              0
  72  StoveBurner     1.764          0.902          0.384          0              270            0
  73  Drawer          1.5            0.538          0.600          0              0              0
  74  Sink            0.0            0.893          -1.434         0              0              0
  75  Drawer          1.5            0.782          1.220          0              270            0
  76  Window          2.217          1.565          -0.384         0              0              0
  77  CounterTop      -0.014         0.961          0.505          0              0              0
  78  Drawer          1.5            0.200          1.220          0              0              0
  79  StoveBurner     1.975          0.902          0.819          0              270            0
  80  Window          -3.240         1.616          2.693          0              270            0
  81  Cabinet         -1.389         0.474          -1.149         0              0              0
  82  LightSwitch     -0.153         1.291          3.700          0              180            0
  83  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  84  StoveKnob       1.602          0.917          0.570          0              270            180
  85  StoveKnob       1.602          0.917          0.625          0              270            180
  86  StoveKnob       1.602          0.917          0.739          0              270            180
  87  StoveKnob       1.602          0.917          0.680          0              270            180
  88  StoveKnob       1.602          0.917          0.462          0              270            180
  89  StoveKnob       1.602          0.917          0.517          0              270            180
  90  Microwave       1.932          0.899          -0.766         0              270            0
  91  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  92  Fridge          -1.764         0.0            0.014          0              90             0
  93  SinkBasin       -0.014         0.736          -1.435         0              0              0
  94  Toaster         1.977          0.900          -0.336         0              270            0
  95  Faucet          -0.020         1.137          -1.605         0              270            0
  96  Chair           -9.354         0.000          1.242          0              180            0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn around and go to the kitchen island on the side towards the stove.  | STEP 2: Pick up the yellow knife on the right of the salt shaker.  | STEP 3: Move over to the left in front of the bread on top of the island. | STEP 4: Slice a half of the bread on the right.  | STEP 5: Put the knife back on the table leaned up against the bread.  | STEP 6: Pick up one slice of the bread.  | STEP 7: Turn around and go to the microwave at the end of the counter.  | STEP 8: Heat the bread in the microwave and take it out.  | STEP 9: Go around the kitchen island to the trash can on the floor on the right  of the refrigerator. | STEP 10: Place the heated bread slice in the trash can. | END