Task: trash a heated bread slice

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           0.900          0.5            0              90             0
   1  Pan             1.836          1.027          -1.84          0              90             0              42
   2  Ladle           2.706          1.066          -1.151         0              0              0              44
   3  ButterKnife     1.926          0.764          3.821          0              270            0              45
   4  WineBottle      -0.629         0.048          2.468          0              0              0              64
   5  WineBottle      1.926          0.765          3.747          0              270            0              45
   6  Spoon           2.762          0.802          -0.313         0              0              0              44
   7  Fork            2.626          0.765          4.118          0              0              0              45
   8  Fork            2.710          0.765          4.229          0              225            0              45
   9  Egg             1.290          1.070          -1.667         0              90             0              44
  10  Cup             2.706          1.025          -0.541         0              0              0              44
  11  Plate           2.216          0.764          3.945          0              225            0              45
  12  SoapBottle      1.409          1.025          -1.987         0              90             0              44
  13  Lettuce         2.599          0.822          4.495          0              0              0              45
  14  Lettuce         2.451          0.822          4.044          0              270            0              45
  15  Apple           2.959          1.077          -1.456         0              0              0              44
  16  Pan             2.621          1.026          -0.846         0              0              0              44
  17  Glassbottle     2.555          0.765          3.865          0              225            0              45
  18  Knife           -0.714         0.841          1.103          0              180            0              101
  19  SoapBottle      2.551          0.763          4.240          0              329.999        0              45
  20  Egg             1.529          1.070          -1.881         0              90             0              44
  21  Fork            2.975          0.765          4.118          0              270            0              45
  22  Potato          -0.577         0.858          1.337          0              90             0              101
  23  Ladle           1.290          1.066          -1.881         0              90             0              44
  24  Tomato          2.008          0.818          3.632          0              225            0              45
  25  Pot             2.116          1.027          -1.84          0              270            0              48
  26  WineBottle      2.698          0.765          3.688          0              329.999        0              45
  27  Plate           2.875          1.027          -0.236         0              0              0              44
  28  Spatula         -0.669         1.042          2.434          0              90             0              47
  29  PaperTowelRoll  2.919          0.868          3.604          0              329.999        0              45
  30  Lettuce         -0.922         1.500          -0.627         0              90             0              88
  31  Apple           -0.947         0.836          -0.073         0              90             0              88
  32  SaltShaker      1.409          1.023          -1.881         0              90             0              44
  33  PepperShaker    2.331          0.760          4.325          0              329.999        0              45
  34  ButterKnife     -0.714         0.816          1.414          0              90             0              101
  35  Bread           2.741          1.085          0.059          0              0              0              44
  36  Cup             -0.851         0.815          1.181          0              90             0              101
  37  DishSponge      2.719          1.026          1.597          0              136.999        0              44
  38  Bowl            2.169          2.277          -1.871         0              0              0              72
  39  Spoon           -0.851         0.817          1.492          0              180            0              101
  40  Mug             2.976          0.759          3.895          0              270            0              45
  41  Sink            -0.716         1.023          1.333          0              0              0
  42  StoveBurner     1.835          1.018          -1.840         0              90             0
  43  StoveBurner     2.177          1.018          -1.599         0              0              0
  44  CounterTop      2.812          0.992          0.675          0              0              0
  45  DiningTable     2.419          0.003          3.930          0              0              0
  46  Drawer          -0.643         0.828          0.616          0              0              0
  47  CounterTop      -0.813         1.062          2.188          0              0              0
  48  StoveBurner     2.115          1.018          -1.840         0              270            0
  49  Drawer          -0.643         0.831          1.953          0              0              0
  50  Drawer          -0.643         0.833          2.418          0              0              0
  51  Drawer          1.347          0.836          -1.539         0              0              0
  52  Drawer          2.693          0.833          -1.131         0              0              0
  53  Drawer          2.693          0.833          -0.699         0              0              0
  54  Drawer          2.693          0.833          -0.267         0              0              0
  55  Drawer          2.693          0.833          0.163          0              0              0
  56  Drawer          2.524          0.833          0.720          0              2.000          0
  57  Drawer          2.232          0.833          1.036          0              2.000          0
  58  Drawer          1.936          0.833          1.354          0              2.000          0
  59  Drawer          1.646          0.833          1.670          0              2.000          0
  60  Cabinet         1.504          2.475          -1.710         0              0              0
  61  Cabinet         -0.823         2.220          1.621          0              0              0
  62  Cabinet         -0.823         2.220          0.615          0              0              0
  63  Cabinet         1.136          0.388          -1.355         0              0              0
  64  Cabinet         -0.356         0.383          2.626          0              0              0
  65  Cabinet         2.745          2.220          -1.690         0              0              0
  66  Cabinet         1.882          0.383          1.017          0              0              0
  67  Cabinet         1.307          0.473          1.640          0              0              0
  68  Cabinet         1.892          0.383          1.006          0              0              0
  69  Cabinet         2.467          0.383          0.383          0              0              0
  70  Cabinet         2.466          0.383          -0.475         0              0              0
  71  Cabinet         2.466          0.473          0.371          0              0              0
  72  Cabinet         2.386          2.475          -1.710         0              0              0
  73  Cabinet         -0.356         0.383          1.712          0              0              0
  74  Cabinet         2.745          2.220          0.019          0              0              0
  75  Cabinet         -0.663         2.496          0.157          0              0              0
  76  Cabinet         -0.663         2.496          -0.868         0              0              0
  77  Cabinet         -0.356         0.383          0.269          0              0              0
  78  Cabinet         -0.823         2.220          1.603          0              0              0
  79  Cabinet         -0.662         2.234          0.586          0              0              0
  80  Cabinet         2.745          2.220          -0.843         0              0              0
  81  Cabinet         2.745          2.220          -0.827         0              0              0
  82  Cabinet         -0.823         2.220          2.608          0              0              0
  83  Cabinet         2.732          2.226          -1.709         0              0              0
  84  Cabinet         1.137          2.226          -1.709         0              0              0
  85  Cabinet         2.466          0.383          -0.491         0              0              0
  86  Cabinet         2.466          0.383          -1.339         0              0              0
  87  StoveBurner     1.761          1.018          -1.599         0              0              0
  88  Fridge          -0.908         0.0            -0.405         0              0              0
  89  HousePlant      2.517          1.016          1.822          0              0              0
  90  Microwave       1.939          1.745          -1.826         0              0              0
  91  StoveKnob       2.017          1.041          -1.514         0              180            180
  92  StoveKnob       1.934          1.041          -1.514         0              180            180
  93  StoveKnob       2.017          1.041          -1.589         0              180            180
  94  StoveKnob       1.934          1.041          -1.589         0              180            180
  95  Window          1.756          1.608          4.762          90             0              0
  96  HousePlant      2.171          1.004          2.091          0              0              0
  97  CoffeeMachine   -0.942         1.018          0.645          0              90             0
  98  LightSwitch     -0.099         1.410          -2.066         0              0              0
  99  GarbageCan      -0.951         -0.029         2.826          0              0              0
 100  Toaster         -1.007         1.018          2.238          0              90             0
 101  SinkBasin       -0.714         0.805          1.348          0              90             0
 102  Chair           1.615          0.004          4.310          0              107.976        0
 103  Faucet          -1.120         1.013          1.334          0              90             0
 104  Chair           2.759          0.004          3.086          0              358.967        0
 105
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: turn left to the sink | STEP 2: pick up the knife | STEP 3: turn around to the table | STEP 4: slice the bread on the table | STEP 5: move to the drawer | STEP 6: place the knife in the drawer | STEP 7: turn left to the table | STEP 8: pick up a slice | STEP 9: head to the oven behind | STEP 10: place the bread to heat and take it out | STEP 11: turn around to the bin  | STEP 12: trash the bread slice | END