Task: Heat a piece of bread for the recycle bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.930          0.75           0              0              0
   1  Potato          0.851          1.111          -1.531         0              0              0              107
   2  Ladle           1.303          1.711          -1.689         0              90             0              52
   3  Ladle           -0.789         0.937          -0.494         0              90             0              61
   4  DishSponge      0.304          1.259          -1.741         0              0              0              77
   5  Kettle          3.028          0.176          -0.404         0              0              0              72
   6  Spatula         3.152          0.762          0.098          0              0              0              106
   7  Spatula         -0.950         0.532          -0.273         0              90             0              88
   8  Spoon           3.111          0.748          0.032          0              0              0              106
   9  Fork            0.550          0.911          0.259          0              36.810         0              92
  10  Mug             -0.775         0.895          -0.854         0              45             0              61
  11  Apple           -0.090         0.974          -1.440         0              45             0              82
  12  Lettuce         -0.862         0.965          -0.047         0              0              0              61
  13  Lettuce         1.098          0.976          0.889          0              0              0              92
  14  SaltShaker      -1.080         0.896          0.623          0              0              0              61
  15  SaltShaker      -0.786         0.702          0.401          0              0              0              65
  16  PepperShaker    0.017          0.896          -1.239         0              45             0              82
  17  PepperShaker    3.113          1.460          -1.648         0              0              0              59
  18  Bowl            0.808          1.671          -1.550         0              0              0              76
  19  SoapBottle      2.976          1.473          -1.697         0              0              0              59
  20  SoapBottle      3.279          1.273          -0.790         0              0              0              74
  21  Egg             3.355          0.953          -0.698         0              0              0              60
  22  Plate           0.781          0.923          0.452          0              36.810         0              92
  23  Glassbottle     3.084          0.176          -0.786         0              0              0              73
  24  SoapBottle      0.059          0.909          -1.383         0              45             0              82
  25  Potato          3.152          0.785          -0.100         0              90             0              106
  26  Fork            -0.935         0.900          0.846          0              0              0              61
  27  Ladle           3.111          0.749          0.829          0              270            0              83
  28  Pot             -0.420         0.902          -0.920         0              135            0              56
  29  Kettle          -0.419         0.902          -1.269         0              315            0              63
  30  Spatula         -0.991         0.146          -0.186         0              90             0              81
  31  Knife           3.354          0.926          0.232          0              90             0              60
  32  Lettuce         1.360          0.973          0.747          0              0              0              92
  33  Cup             -0.597         0.898          -0.730         0              45             0              61
  34  SaltShaker      -0.827         0.702          0.926          0              0              0              65
  35  Egg             0.022          0.952          -1.803         0              0              0              82
  36  PepperShaker    -0.232         1.259          -1.552         0              45             0              78
  37  ButterKnife     1.229          0.911          0.747          0              0              0              92
  38  Apple           -1.018         1.071          1.470          0              90             0              109
  39  Pan             0.341          0.873          -1.649         0              167.065        0              82
  40  Bread           1.534          0.972          0.486          0              289.287        0              92
  41  CellPhone       -0.950         0.704          0.926          0              0              0              65
  42  DishSponge      -0.964         0.899          -0.667         0              45             0              61
  43  Tomato          3.122          0.937          -0.897         0              0              0              60
  44  Spoon           3.111          0.748          0.165          0              0              0              106
  45  Bowl            1.098          0.905          0.605          0              0              0              92
  46  Mug             -1.119         0.992          1.258          0              180            0              109
  47  Drawer          0.376          0.572          -1.509         0              0              0
  48  Drawer          3.020          0.769          -0.783         0              180            0
  49  Drawer          -0.860         0.577          1.429          0              0              0
  50  StoveBurner     -0.600         0.897          -1.090         0              135            0
  51  Drawer          0.376          0.191          -1.509         0              0              0
  52  Cabinet         1.402          1.874          -1.259         0              0              0
  53  Cabinet         -0.202         1.963          -1.328         0              0              0
  54  Drawer          -0.860         0.765          1.429          0              0              0
  55  Drawer          -0.677         0.765          -0.700         0              0              0
  56  StoveBurner     -0.420         0.897          -0.920         0              135            0
  57  Drawer          3.020          0.769          -0.407         0              180            0
  58  Drawer          -0.860         0.577          0.663          0              0              0
  59  Cabinet         2.819          1.768          -1.850         0              0              0
  60  CounterTop      3.111          0.936          0.019          0              0              0
  61  CounterTop      -1.007         0.935          -0.039         0              0              0
  62  Drawer          -0.860         0.385          0.663          0              0              0
  63  StoveBurner     -0.419         0.897          -1.269         0              315            0
  64  Drawer          -0.047         0.573          -1.324         0              0              0
  65  Drawer          -0.860         0.765          0.663          0              0              0
  66  Drawer          -0.860         0.385          -0.100         0              0              0
  67  Drawer          0.376          0.380          -1.509         0              0              0
  68  Drawer          -0.860         0.765          -0.100         0              0              0
  69  Drawer          0.376          0.765          -1.509         0              0              0
  70  Cabinet         2.849          0.419          0.409          0              0              0
  71  Drawer          -0.047         0.765          -1.324         0              0              0
  72  Cabinet         2.849          0.419          -0.610         0              0              0
  73  Cabinet         2.849          0.419          -0.959         0              0              0
  74  Cabinet         3.069          1.666          -0.709         0              0              0
  75  Cabinet         2.819          1.768          -1.047         0              0              0
  76  Cabinet         0.620          1.874          -1.259         0              0              0
  77  Cabinet         0.140          1.666          -1.559         0              0              0
  78  Cabinet         -0.189         1.666          -1.340         0              0              0
  79  Cabinet         -0.709         1.963          -0.819         0              0              0
  80  Cabinet         -0.920         1.665          -0.620         0              0              0
  81  Drawer          -0.860         0.190          -0.100         0              0              0
  82  CounterTop      0.133          0.935          -1.457         0              0              0
  83  Drawer          3.020          0.769          0.695          0              180            0
  84  Drawer          -0.677         0.577          -0.700         0              0              0
  85  Drawer          -0.860         0.190          1.429          0              0              0
  86  Drawer          -0.047         0.192          -1.324         0              0              0
  87  Drawer          -0.677         0.193          -0.700         0              0              0
  88  Drawer          -0.860         0.577          -0.100         0              0              0
  89  Sink            3.078          0.887          0.086          0              0              0
  90  StoveBurner     -0.239         0.897          -1.089         0              315            0
  91  Drawer          -0.860         0.190          0.663          0              0              0
  92  CounterTop      1.210          0.937          0.463          0              0              0
  93  Drawer          -0.047         0.381          -1.324         0              0              0
  94  Drawer          -0.677         0.387          -0.700         0              0              0
  95  Mirror          -1.295         1.630          0.045          0              0              0
  96  Drawer          -0.860         0.385          1.429          0              0              0
  97  HousePlant      3.196          0.891          -0.368         0              0              0
  98  StoveKnob       -0.090         0.790          -1.009         270            45             0
  99  StoveKnob       -0.280         0.790          -0.819         270            45             0
 100  StoveKnob       -0.180         0.790          -0.920         270            45             0
 101  StoveKnob       -0.370         0.790          -0.720         270            45             0
 102  GarbageCan      3.137          0.025          1.545          0              225            0
 103  Window          3.703          1.675          0.046          90             90             0
 104  CoffeeMachine   3.214          0.890          0.697          0              270            0
 105  LightSwitch     2.592          1.309          -1.880         0              0              0
 106  SinkBasin       3.069          0.736          0.108          0              90             0
 107  Fridge          1.008          0.029          -1.467         0              0              0
 108  Toaster         -1.035         0.873          -0.396         0              90             0
 109  Microwave       -1.034         0.874          1.428          0              90             0
 110  Faucet          3.305          0.886          0.094          270            180            0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Turn left and face the counter with the loaf of bread.  | STEP 2: Pick up the knife next to the bowl.  | STEP 3: Move in front of the loaf of bread.  | STEP 4: Slice half of the loaf of bread.  | STEP 5: Turn around to face the coffee maker.  | STEP 6: Open the drawer below the coffee maker, place the knife in the drawer on the right side, close the drawer.  | STEP 7: Turn around to face the loaf of bread.  | STEP 8: Pick up a slice of bread.  | STEP 9: Walk around the island to the microwave on the left.  | STEP 10: Open the microwave door, place the bread in the microwave next to the apple, close the door, heat the bread, take the bread out of the microwave, and close the door.  | STEP 11: Turn left and walk around the island to the blue recycling bin on the right.  | STEP 12: Place the heated slice of bread in the recycle bin.  | END