Task: put a heated slice of bread 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           -1.0           0.900          2.75           0              0              0
   1  Potato          0.107          0.949          0.738          0              0              0              75
   2  CellPhone       -0.844         0.909          -1.415         0              0              0              67
   3  CellPhone       0.107          0.923          0.273          0              0              0              75
   4  ButterKnife     -1.727         0.911          -1.063         0              0              0              67
   5  ButterKnife     -1.874         0.911          -1.221         0              0              0              67
   6  Fork            1.714          0.120          0.745          0              270            0              59
   7  Spoon           1.713          0.238          -0.157         0              0              0              50
   8  Spatula         -1.668         0.926          -1.610         0              0              0              67
   9  Spatula         0.889          0.926          -1.221         0              0              0              67
  10  Pot             1.975          0.938          0.819          0              180            0              77
  11  SoapBottle      1.924          1.662          -1.280         0              270            0              55
  12  Tomato          -1.803         1.728          -0.269         0              90             0              90
  13  Bowl            -0.320         0.924          0.738          0              0              0              75
  14  Bowl            -0.002         0.758          -1.380         0              0              0              91
  15  SaltShaker      0.853          0.667          -1.301         0              0              0              48
  16  Bread           -0.213         1.006          -0.190         0              0              0              75
  17  Lettuce         1.900          0.988          1.258          0              0              0              67
  18  Lettuce         0.170          0.837          -1.490         0              0              0              91
  19  Mug             1.355          0.955          -1.362         0              0              0              89
  20  Apple           1.924          1.059          -0.808         0              270            0              88
  21  Apple           -1.692         0.616          -0.175         0              90             0              90
  22  SoapBottle      -1.727         0.915          -0.864         0              0              0              67
  23  Cup             1.892          1.004          -0.651         0              270            0              88
  24  Pot             -0.106         0.929          0.273          0              0              0              75
  25  Fork            1.612          0.461          1.088          0              90             0              65
  26  Ladle           1.710          0.739          0.608          0              0              0              68
  27  Kettle          -0.320         0.926          1.202          0              0              0              75
  28  Egg             -1.796         0.099          1.412          0              270            0              81
  29  Plate           -1.151         0.112          -1.360         0              0              0              79
  30  Pan             -1.286         0.9            -1.348         0              79.769         0              67
  31  Lettuce         -1.697         1.545          -0.081         0              90             0              90
  32  Spatula         1.603          0.598          -0.238         0              180            0              52
  33  Apple           1.900          0.964          1.484          0              0              0              67
  34  Knife           0.214          0.947          0.041          0              0              0              75
  35  SaltShaker      -1.105         0.109          -1.550         0              0              0              79
  36  PepperShaker    -0.867         1.675          -1.652         0              0              0              69
  37  CellPhone       1.769          0.760          1.220          0              270            0              73
  38  ButterKnife     0.107          0.925          0.970          0              0              0              75
  39  Bread           -0.320         1.006          0.273          0              0              0              75
  40  Tomato          -1.716         0.894          0.201          0              90             0              90
  41  Potato          -1.716         0.863          0.013          0              90             0              90
  42  DishSponge      -0.002         0.760          -1.546         0              0              0              91
  43  Spoon           -0.261         0.761          -1.490         0              90             0              91
  44  Mug             -1.764         1.656          -1.056         0              0              0              54
  45  Bowl            0.321          0.924          0.738          0              0              0              75
  46  Cabinet         -0.495         0.474          -1.149         0              0              0
  47  Window          -0.010         1.582          -1.821         0              0              0
  48  Drawer          0.805          0.475          -1.159         0              0              0
  49  StoveBurner     1.764          0.902          0.601          0              270            0
  50  Drawer          1.5            0.196          -0.019         0              0              0
  51  Drawer          1.5            0.629          -0.018         0              0              0
  52  Drawer          1.5            0.602          -0.019         0              270            0
  53  StoveBurner     1.975          0.902          0.384          0              270            0
  54  Cabinet         -1.703         2.022          -1.453         0              90             0
  55  Cabinet         1.789          2.019          -0.819         0              270            0
  56  Cabinet         0.494          0.474          -1.149         0              0              0
  57  Cabinet         0.409          0.475          0.444          0              0              0
  58  Drawer          -0.696         0.475          -1.159         0              0              0
  59  Drawer          1.5            0.140          0.599          0              270            0
  60  Cabinet         1.389          0.474          -1.149         0              0              0
  61  Drawer          1.5            0.305          0.600          0              0              0
  62  StoveBurner     1.975          0.902          0.601          0              270            0
  63  Drawer          1.5            0.429          -0.019         0              0              0
  64  StoveBurner     1.764          0.902          0.819          0              270            0
  65  Drawer          1.5            0.519          1.220          0              0              0
  66  Cabinet         1.705          2.019          -1.449         0              0              0
  67  CounterTop      0.002          0.947          -1.513         0              0              0
  68  Drawer          1.5            0.629          0.605          0              0              0
  69  Cabinet         -0.627         2.019          -1.449         0              0              0
  70  StoveBurner     1.764          0.902          0.384          0              270            0
  71  Drawer          1.5            0.538          0.600          0              0              0
  72  Sink            0.0            0.893          -1.434         0              0              0
  73  Drawer          1.5            0.782          1.220          0              270            0
  74  Window          2.217          1.565          -0.384         0              0              0
  75  CounterTop      -0.014         0.961          0.505          0              0              0
  76  Drawer          1.5            0.200          1.220          0              0              0
  77  StoveBurner     1.975          0.902          0.819          0              270            0
  78  Window          -3.240         1.616          2.693          0              270            0
  79  Cabinet         -1.389         0.474          -1.149         0              0              0
  80  LightSwitch     -0.153         1.291          3.700          0              180            0
  81  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  82  StoveKnob       1.602          0.917          0.570          0              270            180
  83  StoveKnob       1.602          0.917          0.625          0              270            180
  84  StoveKnob       1.602          0.917          0.739          0              270            180
  85  StoveKnob       1.602          0.917          0.680          0              270            180
  86  StoveKnob       1.602          0.917          0.462          0              270            180
  87  StoveKnob       1.602          0.917          0.517          0              270            180
  88  Microwave       1.932          0.899          -0.766         0              270            0
  89  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  90  Fridge          -1.764         0.0            0.014          0              90             0
  91  SinkBasin       -0.014         0.736          -1.435         0              0              0
  92  Toaster         1.977          0.900          -0.336         0              270            0
  93  Faucet          -0.020         1.137          -1.605         0              270            0
  94  Chair           -9.354         0.000          1.242          0              180            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: turn to the left go forward turn right towards the counter | STEP 2: pick up the knife from the counter | STEP 3: turn around to the right  | STEP 4: slice the loaf of bread that is on the counter | STEP 5: turn to the right | STEP 6: open the bottom cabinet drawer put the knife inside of the drawer | STEP 7: turn around to the left towards the counter | STEP 8: pick a slice of the bread that is on the counter | STEP 9: turn around to the right go forward towards the microwave  | STEP 10: put the slice of bread inside the microwave and heat it up get it back out  | STEP 11: turn to the right go forward go right turn to the left towards the trash can | STEP 12: throw the slice of bread into the trash can | END