Task: the robot slices the bread takes a piece to the microwave  heat it put it in the trash

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.908          1.75           0              270            0
   1  SprayBottle     1.049          0.910          0.139          0              0              0              72
   2  SprayBottle     1.207          0.910          -0.428         0              0              0              72
   3  CellPhone       -1.156         0.774          -0.136         0              180            0              76
   4  CellPhone       -0.919         0.747          2.459          0              0              0              53
   5  DishSponge      -1.290         0.748          2.830          0              0              0              53
   6  DishSponge      -0.144         0.758          -0.533         0              0              0              99
   7  ButterKnife     -1.383         0.749          2.087          0              0              0              53
   8  WineBottle      -1.475         0.749          2.644          0              0              0              53
   9  Spoon           1.284          0.887          2.800          0              0              0              104
  10  Fork            -1.197         0.749          1.902          0              0              0              53
  11  Fork            -1.105         0.750          2.459          0              0              0              53
  12  Spatula         1.128          0.926          0.422          0              270            0              72
  13  Spatula         -0.658         0.927          -0.430         0              0              0              78
  14  Pot             0.502          0.939          -0.740         0              90             0              79
  15  Cup             -1.194         0.340          0.673          0              90             0              92
  16  Cup             -1.263         1.636          0.781          0              90             0              92
  17  Plate           1.365          0.912          0.422          0              0              0              72
  18  SoapBottle      -0.919         0.750          2.644          0              0              0              53
  19  Bowl            -1.320         1.635          1.086          0              90             0              92
  20  Bowl            1.286          0.909          0.139          0              0              0              72
  21  Bread           -1.012         0.813          2.087          0              0              0              53
  22  Bread           -1.290         0.813          2.459          0              0              0              53
  23  PepperShaker    -1.383         0.745          2.644          0              0              0              53
  24  Mug             -1.060         0.907          -0.732         0              0              0              78
  25  Apple           -1.092         0.811          0.778          0              90             0              92
  26  Apple           -0.020         0.818          -0.533         0              0              0              99
  27  Bread           1.128          0.974          0.706          0              0              0              72
  28  Glassbottle     -1.149         0.751          0.988          0              90             0              92
  29  Fork            1.200          0.886          2.261          0              0              0              104
  30  Kettle          -1.357         0.739          3.024          0              240.000        0              53
  31  Tomato          -1.513         0.961          -0.477         0              0              0              78
  32  Plate           1.034          0.887          2.692          0              0              0              104
  33  CellPhone       1.450          0.884          2.584          0              0              0              104
  34  Lettuce         1.200          0.957          2.477          0              0              0              104
  35  Pot             0.802          0.939          -0.740         0              90             0              81
  36  SoapBottle      -1.286         0.913          -0.392         0              0              0              78
  37  WineBottle      -0.129         0.117          -0.533         0              0              0              68
  38  Spatula         -0.968         0.927          -0.430         0              0              0              78
  39  Bowl            -1.263         1.419          1.197          0              90             0              92
  40  Apple           1.444          0.971          -0.428         0              0              0              72
  41  Cup             -1.475         0.748          1.902          0              0              0              53
  42  Knife           -0.813         0.934          -0.748         0              0              0              78
  43  Egg             -1.475         0.783          2.459          0              0              0              53
  44  SaltShaker      -1.012         0.745          2.273          0              0              0              53
  45  PepperShaker    -1.325         1.652          0.222          0              0              0              61
  46  Potato          -0.919         0.794          2.830          0              0              0              53
  47  ButterKnife     1.444          0.911          0.706          0              0              0              72
  48  DishSponge      -1.433         0.911          -0.907         0              0              0              78
  49  Pan             -1.105         0.749          3.015          0              270            0              53
  50  Spoon           1.367          0.887          2.261          0              0              0              104
  51  SprayBottle     1.189          0.085          1.440          0              0              0              93
  52  Mug             1.215          0.943          -0.633         0              320.314        0              91
  53  DiningTable     -1.182         0.006          2.414          0              90             0
  54  Cabinet         1.184          2.059          0.375          0              0              0
  55  Cabinet         1.184          2.059          -0.635         0              0              0
  56  Cabinet         0.591          2.309          -0.645         0              0              0
  57  Cabinet         -0.574         2.059          -0.644         0              0              0
  58  Cabinet         -1.103         2.059          -0.644         0              0              0
  59  Cabinet         -1.185         2.059          -0.331         0              0              0
  60  Cabinet         -1.185         2.059          -0.281         0              0              0
  61  Cabinet         -1.185         2.059          0.375          0              0              0
  62  Cabinet         1.184          2.309          1.174          0              0              0
  63  Cabinet         1.184          2.309          0.424          0              0              0
  64  Cabinet         0.988          0.402          0.581          0              0              0
  65  Cabinet         0.988          0.402          0.531          0              0              0
  66  Cabinet         0.988          0.402          -0.178         0              0              0
  67  Cabinet         0.335          0.402          -0.348         0              0              0
  68  Cabinet         -0.374         0.402          -0.348         0              0              0
  69  Cabinet         0.988          0.402          1.231          0              0              0
  70  Cabinet         -1.185         2.309          1.374          0              0              0
  71  Cabinet         -1.185         2.309          0.424          0              0              0
  72  CounterTop      1.274          0.947          0.064          0              0              0
  73  Drawer          1.116          0.792          -0.015         0              0              0
  74  Drawer          -1.116         0.792          0.210          0              180            0
  75  Cabinet         -0.990         0.402          0.374          0              180            0
  76  Drawer          -1.116         0.792          -0.170         0              180            0
  77  Cabinet         -0.990         0.402          -0.335         0              180            0
  78  CounterTop      -1.001         0.947          -0.669         0              0              0
  79  StoveBurner     0.502          0.932          -0.740         0              90             0
  80  StoveBurner     0.801          0.932          -0.473         0              0              0
  81  StoveBurner     0.801          0.932          -0.740         0              90             0
  82  Drawer          1.116          0.792          1.081          0              0              0
  83  Sink            -0.013         0.912          -0.615         0              0              0
  84  Drawer          1.116          0.792          0.732          0              0              0
  85  StoveBurner     0.502          0.932          -0.469         0              0              0
  86  Drawer          1.116          0.792          0.367          0              0              0
  87  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  90  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  91  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  92  Fridge          -1.300         0.008          0.987          0              90             0
  93  GarbageCan      1.296          -0.024         1.465          0              0              0
  94  Window          -0.012         1.641          -0.972         90             0              0
  95  Window          1.598          1.646          2.489          90             270            0
  96  Toaster         1.356          0.900          1.044          0              270            0
  97  LightSwitch     0.118          1.353          3.799          0              180            0
  98  Microwave       -1.343         0.900          0.053          0              90             0
  99  SinkBasin       -0.029         0.748          -0.612         0              0              0
 100  Faucet          -0.026         0.927          -0.808         0              0              0
 101  Shelf           -1.182         0.127          2.414          0              90             0
 102  Stool           1.140          0.007          3.262          1.206          20.753         0
 103  Shelf           -1.182         0.435          2.414          0              90             0
 104  DiningTable     1.169          0.014          2.569          0              0              1.896
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: 
moves left towards the sink and then right in front of the bread | STEP 2: picks up the knife close to the bread | STEP 3: moves backwards | STEP 4: slice the bread
 | STEP 5: uses the knife to slice the bread
 | STEP 6: picks up a slice of the bread | STEP 7:  then left and right and walks towards the microwave opens it up | STEP 8: turns right twice,put the bread in the microwave for a while and take it out | STEP 9: turns right moves foward and right and looks down on the trash | STEP 10: and drops the bread slice in it | END