Task: To heat a slice of bread 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           -1.25          0.900          1.5            0              180            0
   1  Statue          1.893          0.551          -2.511         0              180            0              93
   2  Vase            -0.912         0.134          -2.352         0              0              0              81
   3  CreditCard      0.355          1.108          -0.001         0              0              0              63
   4  CreditCard      0.355          1.108          -0.759         0              0              0              63
   5  Plate           -2.040         1.499          1.176          0              90             0              96
   6  Plate           0.355          1.108          -0.253         0              0              0              63
   7  Cup             -2.040         1.500          0.925          0              90             0              96
   8  Egg             -1.997         0.575          1.251          0              90             0              96
   9  SoapBottle      0.393          0.141          -2.485         0              0              0              80
  10  SaltShaker      -1.937         0.907          -0.698         0              0              0              88
  11  SaltShaker      -1.296         0.133          -2.402         0              0              0              81
  12  Bread           -0.059         1.184          -0.001         0              0              0              63
  13  Bread           -2.070         1.378          1.176          0              90             0              96
  14  Lettuce         0.355          1.191          -0.001         0              0              0              63
  15  Apple           -1.907         0.098          2.124          0              270            0              94
  16  Knife           0.355          1.136          0.251          0              0              0              63
  17  Knife           -1.852         0.795          -1.242         0              0              0              98
  18  Spoon           -1.797         0.770          -1.501         0              0              0              98
  19  Mug             1.478          0.548          -2.511         0              180            0              93
  20  Spatula         0.582          0.925          -2.407         0              0              0              65
  21  Spatula         0.355          1.126          -0.759         0              0              0              63
  22  Pot             -0.036         0.950          -2.576         0              270            0              66
  23  ButterKnife     0.969          0.910          -2.330         0              0              0              65
  24  Kettle          -0.465         0.950          -2.576         0              90             0              72
  25  Glassbottle     -2.100         0.912          -2.256         0              0              0              88
  26  WineBottle      0.563          0.141          -2.337         0              0              0              80
  27  Bowl            -0.473         1.108          -0.506         0              0              0              63
  28  Book            0.155          1.1            0.617          0              315            0              63
  29  Glassbottle     -1.586         0.912          -2.713         0              0              0              88
  30  Knife           -0.059         1.136          0.251          0              0              0              63
  31  Bread           -0.522         1.170          -0.028         0              0              0              63
  32  Fork            -1.908         0.770          -1.587         0              90             0              98
  33  Potato          -2.163         0.570          1.085          0              90             0              96
  34  SoapBottle      0.336          0.141          -2.239         0              180            0              80
  35  Kettle          -1.401         1.659          -2.604         0              0              0              79
  36  Pan             0.721          0.9            -2.415         0              0              0              65
  37  Plate           0.969          0.907          -2.484         0              0              0              65
  38  Tomato          -2.158         1.348          1.008          0              90             0              96
  39  Vase            1.686          0.882          -2.563         0              180            0              90
  40  Egg             -1.774         0.946          -2.036         0              0              0              88
  41  CreditCard      -1.696         0.150          -0.101         0              90             0              86
  42  Statue          -0.335         1.110          0.504          0              0              0              63
  43  WineBottle      -1.615         0.130          0.158          0              90             0              69
  44  Pot             0.079          1.115          -0.759         0              0              0              63
  45  Spatula         -0.335         1.126          0.757          0              0              0              63
  46  PaperTowelRoll  0.840          1.014          -2.637         0              0              0              65
  47  Cup             -2.100         0.909          -0.513         0              0              0              88
  48  Vase            0.217          1.109          -0.506         0              0              0              63
  49  Bowl            1.993          0.877          -2.563         0              180            0              90
  50  SaltShaker      0.840          0.907          -2.253         0              0              0              65
  51  PepperShaker    0.582          0.907          -2.560         0              0              0              65
  52  Lettuce         -1.290         0.991          -2.406         0              0              0              88
  53  ButterKnife     -0.197         1.111          -0.506         0              0              0              63
  54  Apple           -1.693         0.961          -0.513         0              0              0              88
  55  DishSponge      -2.018         0.769          -1.414         0              90             0              98
  56  Spoon           -0.848         0.912          -2.483         0              0              0              88
  57  Mug             -1.731         0.956          -0.168         0              90             0              97
  58  StoveBurner     -0.036         0.915          -2.372         0              0              0
  59  Drawer          0.949          0.832          -2.197         0              0              0
  60  Drawer          -1.560         0.839          0.204          0              90             0
  61  StoveBurner     -0.465         0.915          -2.371         0              180            0
  62  Drawer          -1.560         0.839          -0.197         0              90             0
  63  CounterTop      -0.079         1.147          -0.001         0              0              0
  64  Cabinet         -1.549         0.494          -1.964         0              90             0
  65  CounterTop      0.693          0.946          -2.483         0              0              0
  66  StoveBurner     -0.036         0.915          -2.576         0              0              0
  67  Drawer          0.949          0.393          -2.200         0              0              0
  68  Drawer          0.949          0.708          -2.200         0              0              0
  69  Cabinet         -1.549         0.494          0.379          0              90             0
  70  StoveKnob       -0.022         0.881          -2.187         45             0              0
  71  Drawer          0.949          0.560          -2.201         0              0              0
  72  StoveBurner     -0.465         0.915          -2.575         0              180            0
  73  Window          -2.230         1.429          -1.203         0              0              0
  74  StoveKnob       -0.483         0.881          -2.187         45             0              0
  75  Sink            -1.899         0.964          -1.5           0              90             0
  76  StoveKnob       -0.328         0.881          -2.187         45             0              0
  77  Cabinet         -0.727         2.015          -2.460         0              0              0
  78  Drawer          -1.560         0.655          -0.196         0              90             0
  79  Cabinet         -1.685         2.015          -2.461         0              0              0
  80  Cabinet         0.680          0.494          -2.200         0              0              0
  81  Cabinet         -1.179         0.494          -2.200         0              0              0
  82  Cabinet         -1.849         2.015          0.379          0              90             0
  83  Drawer          0.949          0.221          -2.200         0              0              0
  84  StoveKnob       -0.183         0.881          -2.187         45             0              0
  85  Cabinet         0.719          2.015          -2.460         0              0              0
  86  Drawer          -1.560         0.331          -0.196         0              90             0
  87  Cabinet         0.680          2.015          -2.460         0              0              0
  88  CounterTop      -1.868         0.946          -1.205         0              0              0
  89  Microwave       -0.236         1.689          -2.525         0              0              0
  90  Shelf           1.751          0.880          -2.560         0              0              0
  91  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  92  Toaster         -1.835         0.900          0.134          0              90             0
  93  Shelf           1.750          0.552          -2.559         0              0              0
  94  GarbageCan      -1.935         -0.002         2.029          0              270            0
  95  Shelf           1.750          0.172          -2.559         0              0              0
  96  Fridge          -2.096         0.0            1.088          0              0              0
  97  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  98  SinkBasin       -1.908         0.759          -1.488         0              90             0
  99  LightSwitch     2.329          1.309          -0.159         0              270            0
 100  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 101  Stool           0.702          0.000          -0.514         1.202          65.108         0
 102  Stool           0.743          0.000          0.563          1.227          106.706        0
 103  Faucet          -2.070         1.132          -1.514         0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Step forward and turn left to face the center table. | STEP 2: Pick up the knife on the center table. | STEP 3: Take a step to the right to face the bread on the counter. | STEP 4: Cut the bread on the counter into slices. | STEP 5: Turn left and walk forward to face the trash can on the left. | STEP 6: Place the knife in the trash can. | STEP 7: Turn around to face the bread on the center table. | STEP 8: Pick up a slice of bread on the counter. | STEP 9: Turn right and walk forward to face the microwave. | STEP 10: Heat the bread slice in the microwave and remove  it. | STEP 11: Turn around and walk around to face the trash can in the corner of the room. | STEP 12: Place the bread slice in the trash can. | END