Task: TO heat a bread slice and 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          1.5            0              90             0
   1  Potato          -0.295         1.104          -1.382         0              0              0              66
   2  ButterKnife     0.988          0.910          1.004          0              90             0              39
   3  DishSponge      1.865          0.910          -1.631         0              90             0              43
   4  Pot             1.807          0.909          -0.320         0              180            0              41
   5  Spoon           0.356          0.912          -1.352         0              90             0              43
   6  Spatula         1.516          0.926          -1.631         0              270            0              43
   7  Cup             -0.692         1.387          -1.664         0              0              0              66
   8  Cup             0.476          0.908          1.180          0              90             0              39
   9  Knife           0.732          0.943          0.827          0              180            0              39
  10  SoapBottle      1.769          1.652          -0.449         0              0              0              50
  11  SoapBottle      1.878          2.134          1.121          0              0              0              46
  12  Tomato          1.739          0.134          1.588          0              270            0              57
  13  Tomato          0.220          0.974          0.915          0              90             0              39
  14  SaltShaker      1.757          0.905          1.004          0              90             0              39
  15  PepperShaker    1.762          0.905          0.518          0              90             0              39
  16  Lettuce         1.865          1.011          -1.374         0              90             0              43
  17  Plate           -0.692         0.748          -1.594         0              0              0              66
  18  SoapBottle      1.762          0.908          0.415          0              90             0              39
  19  Cup             1.501          0.908          1.092          0              90             0              39
  20  Egg             1.101          0.795          -1.488         0              0              0              58
  21  Fork            1.451          0.911          0.415          0              270            0              39
  22  Ladle           1.201          0.926          0.743          3.369          0              346.985        39
  23  Apple           0.840          0.968          -1.247         0              90             0              43
  24  SaltShaker      1.917          0.905          0.467          0              90             0              39
  25  Pan             1.281          0.900          1.190          0              0              0              39
  26  Tomato          0.732          0.974          1.180          0              90             0              39
  27  Spatula         0.732          0.925          1.004          0              90             0              39
  28  Potato          -0.741         1.723          -1.559         0              0              0              66
  29  Knife           1.139          0.761          -1.584         271.548        81.956         278.219        58
  30  ButterKnife     1.726          0.911          -1.717         0              90             0              43
  31  Bread           1.615          0.977          0.761          0              50.525         0              39
  32  Lettuce         -0.741         0.560          -1.412         0              0              0              66
  33  PepperShaker    1.656          0.906          -1.460         0              90             0              43
  34  Pot             1.807          0.909          0.075          0              180            0              40
  35  DishSponge      1.77           0.069          1.731          0              270            0              57
  36  Spoon           1.726          0.912          -1.545         0              180            0              43
  37  Bowl            1.805          1.631          -0.973         0              0              0              51
  38  Mug             1.841          1.648          -0.257         0              270            0              50
  39  CounterTop      0.989          0.946          1.016          0              90             0
  40  StoveBurner     1.807          0.907          0.075          0              180            0
  41  StoveBurner     1.807          0.907          -0.320         0              180            0
  42  StoveBurner     1.543          0.907          -0.320         0              90             0
  43  CounterTop      0.989          0.946          -1.516         0              90             0
  44  Sink            1.100          0.906          -1.599         0              0              0
  45  StoveBurner     1.548          0.907          0.075          0              180            0
  46  Cabinet         1.658          2.299          1.313          0              0              0
  47  Cabinet         1.658          2.299          0.686          0              0              0
  48  Cabinet         1.658          2.049          0.673          0              0              0
  49  Cabinet         1.658          2.059          0.193          0              0              0
  50  Cabinet         1.658          2.059          -0.593         0              0              0
  51  Cabinet         1.658          2.049          -0.606         0              0              0
  52  Cabinet         1.658          2.049          -1.206         0              0              0
  53  Cabinet         1.658          2.049          -1.893         0              0              0
  54  Toaster         0.131          0.900          -1.589         0              0              0
  55  Window          -0.372         1.588          3.349          90             0              0
  56  Window          0.782          1.741          -1.893         90             0              0
  57  GarbageCan      1.770          -0.029         1.685          0              270            0
  58  SinkBasin       1.091          0.740          -1.599         0              0              0
  59  StoveKnob       1.364          0.821          0.086          48.421         270            0
  60  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  61  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  62  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  63  Microwave       1.752          0.900          -0.843         0              270            0
  64  LightSwitch     2.0            1.261          3.094          0              270            0
  65  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  66  Fridge          -0.533         0.0            -1.554         0              0              0
  67  Chair           1.068          0.000          1.752          0              191.622        0
  68  Faucet          1.110          1.138          -1.764         0              270            0
  69  Chair           0.357          0.000          1.710          0              178.899        0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: Turn right and walk across the room to face the sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn to the left and step left to face the counter to the left of the stove. | STEP 4: Cut the loaf of bread on the counter into slices. | STEP 5: Take a step to the right to face the microwave. | STEP 6: Place the knife in the microwave. | STEP 7: Turn left and step forward to face the bread on the counter. | STEP 8: Pick up a slice of bread on the counter. | STEP 9: Take a step to the right to face the microwave. | STEP 10: Heat the bread in the microwave and then remove it. | STEP 11: Walk around to the opposite side of the counter to face the trash can on the floor. | STEP 12: Place the slice of bread in the trash can on the floor. | END