Task: Warm a knife and slice of bread, throw bread in the garbage.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          2.5            0              270            0
   1  Potato          1.516          0.970          2.022          0              0              0              42
   2  Spoon           -0.792         0.747          0.847          0              180            0              60
   3  Spoon           -1.127         0.939          2.310          0              0              0              37
   4  Pot             -1.109         0.930          1.865          0              0              0              61
   5  Cup             1.589          1.499          2.248          0              0              0              57
   6  Cup             1.746          1.502          0.918          0              0              0              44
   7  Plate           1.382          0.105          0.171          0              0              0              47
   8  Knife           -1.043         0.959          1.154          0              0              0              62
   9  SoapBottle      1.307          1.071          0.274          0              0              0              43
  10  SoapBottle      1.669          0.937          0.940          0              0              0              42
  11  SaltShaker      -0.995         1.947          1.551          0              0              0              53
  12  SaltShaker      1.414          0.742          1.120          0              0              0              67
  13  PepperShaker    -1.041         1.497          2.524          0              180            0              59
  14  Mug             -0.893         0.195          0.282          0              90             0              69
  15  Apple           -0.976         0.615          0.118          0              90             0              69
  16  Lettuce         1.460          1.014          1.677          5.162          59.535         356.178        64
  17  SoapBottle      -1.154         1.828          -0.035         0              0              0              50
  18  Bread           -0.876         1.005          0.843          0              0              0              62
  19  Fork            -0.960         0.938          0.843          0              0              0              62
  20  Tomato          -1.209         0.999          1.076          0              0              0              62
  21  Bowl            -0.753         0.080          0.915          0              0              0              49
  22  Pot             -1.109         0.930          1.470          0              0              0              39
  23  Spatula         -0.876         0.952          0.687          0              0              0              62
  24  Knife           -0.758         0.768          2.517          0              270            0              38
  25  SaltShaker      1.787          0.934          1.458          0              0              0              42
  26  Apple           1.489          0.119          2.912          0              0              0              75
  27  PepperShaker    -0.793         0.934          1.154          0              0              0              62
  28  ButterKnife     -0.876         0.937          1.154          0              0              0              62
  29  Potato          1.592          0.970          0.806          0              0              0              42
  30  Plate           -0.804         0.086          2.313          0              0              0              58
  31  DishSponge      1.379          0.746          0.848          0              0              0              67
  32  Egg             -0.712         0.973          2.386          0              0              0              37
  33  Cup             1.455          0.099          -0.030         0              0              0              47
  34  Pan             1.378          1.737          0.392          0              270            0              45
  35  Spoon           -0.792         0.747          0.982          0              180            0              60
  36  Mug             1.388          0.838          1.312          0              180            0              79
  37  CounterTop      -0.973         0.973          2.386          0              0              0
  38  Drawer          -0.783         0.774          2.381          0              180            0
  39  StoveBurner     -1.108         0.922          1.470          0              0              0
  40  Drawer          1.370          0.774          2.391          0              0              0
  41  Stool           -0.748         0.008          3.116          0              0              0
  42  CounterTop      1.504          0.973          2.309          0              0              0
  43  Cabinet         1.219          1.388          0.591          0              0              0
  44  Cabinet         1.500          2.113          1.164          0              0              0
  45  Cabinet         1.219          2.010          0.591          0              0              0
  46  Cabinet         1.219          0.388          2.105          0              0              0
  47  Cabinet         1.219          0.553          0.591          0              0              0
  48  Cabinet         -0.913         2.113          1.164          0              0              0
  49  Cabinet         -0.633         0.388          0.627          0              0              0
  50  Cabinet         -0.913         2.050          -0.329         0              0              0
  51  Cabinet         -0.913         2.113          0.583          0              0              0
  52  Cabinet         -0.913         2.113          2.082          0              0              0
  53  Cabinet         -0.913         2.113          1.207          0              0              0
  54  Cabinet         1.500          2.113          2.082          0              0              0
  55  Cabinet         1.500          2.113          1.207          0              0              0
  56  Cabinet         1.500          1.810          2.691          0              0              0
  57  Cabinet         1.500          1.810          2.101          0              0              0
  58  Cabinet         -0.633         0.388          2.105          0              0              0
  59  Cabinet         -0.911         1.810          2.700          0              180            0
  60  Drawer          -0.783         0.774          0.915          0              180            0
  61  StoveBurner     -1.108         0.922          1.865          0              0              0
  62  CounterTop      -0.972         0.973          0.921          0              0              0
  63  Cabinet         1.219          0.388          0.631          0              0              0
  64  Sink            1.544          0.869          1.639          0              180            0
  65  StoveBurner     -0.832         0.922          1.865          0              0              0
  66  StoveBurner     -0.831         0.922          1.470          0              0              0
  67  Drawer          1.370          0.774          0.916          0              0              0
  68  Cabinet         -0.911         1.810          2.111          0              180            0
  69  Fridge          -1.001         0.0            0.119          0              0              0
  70  StoveKnob       -0.648         0.926          1.923          0              270            0
  71  StoveKnob       -0.648         0.926          1.363          0              270            0
  72  StoveKnob       -0.648         0.926          1.513          0              270            0
  73  StoveKnob       -0.648         0.926          1.763          0              270            0
  74  Toaster         -1.002         0.926          2.561          0              90             0
  75  GarbageCan      1.451          -0.029         2.912          0              0              0
  76  Microwave       1.632          1.480          1.645          0              270            0
  77  Window          0.224          1.601          3.509          90             0              0
  78  CoffeeMachine   1.692          0.926          2.453          0              270            0
  79  SinkBasin       1.461          0.833          1.369          0              180            0
  80  LightSwitch     0.451          1.412          -1.674         0              0              0
  81  Faucet          1.707          0.925          1.363          0              270            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn left, walk past stove, turn right, walk to counter to the left of stove. | STEP 2: Pick knife up from the counter. | STEP 3: Turn left, turn right to face counter. | STEP 4: Slice the bread that's on the counter. | STEP 5: Turn right, turn right, walk to microwave. | STEP 6: Put knife in the microwave. | STEP 7: Turn right, turn right, cross room to counter with bread on it. | STEP 8: Pick up bread from the counter. | STEP 9: Turn right, turn right, walk to microwave. | STEP 10: Put bread in microwave, turn microwave on, take bread out of microwave. | STEP 11: Turn left, walk to garbage can, turn right to face can. | STEP 12:  Throw bread in the garbage can. | END