Task: To heat a slice of bread, as well as put the bread plus a knife into the trash bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.930          -0.75          0              270            0
   1  Pan             3.031          1.464          -1.235         0              270            0              77
   2  Potato          0.929          1.286          -1.448         0              0              0              109
   3  Potato          0.445          0.949          0.326          0              0              0              94
   4  Glassbottle     0.404          1.260          -1.776         0              0              0              79
   5  Glassbottle     3.235          0.101          1.6            0              225            0              104
   6  Pot             3.181          1.464          -1.648         0              90             0              61
   7  Spatula         -1.008         0.915          0.399          0              270            0              63
   8  Spoon           0.967          0.909          0.747          0              90             0              94
   9  Fork            -0.675         0.900          -0.753         0              45             0              63
  10  Mug             -0.232         1.258          -1.552         0              45             0              80
  11  Mug             3.049          0.966          0.591          0              270            0              106
  12  Bread           -0.862         0.979          0.399          0              0              0              63
  13  Bread           1.229          0.986          0.747          0              0              0              94
  14  Lettuce         0.022          0.965          -1.731         0              0              0              84
  15  SaltShaker      -0.698         0.896          -0.830         0              45             0              63
  16  SaltShaker      3.373          0.897          0.232          0              0              0              62
  17  Bowl            -1.008         0.897          0.623          0              0              0              63
  18  SoapBottle      0.494          0.909          -1.445         0              0              0              84
  19  Egg             -1.119         1.050          1.258          0              90             0              111
  20  Egg             -1.018         1.050          1.258          0              90             0              111
  21  Cup             -1.085         0.995          1.470          0              90             0              111
  22  Plate           0.895          0.923          0.489          0              36.810         0              94
  23  Knife           -0.991         0.732          0.751          0              90             0              67
  24  Plate           0.661          0.921          0.176          0              36.810         0              94
  25  Glassbottle     3.182          0.101          1.707          0              225            0              104
  26  SoapBottle      2.971          0.186          0.700          0              0              0              72
  27  Potato          0.773          1.111          -1.475         0              0              0              109
  28  Fork            1.098          0.908          0.180          0              0              0              94
  29  Ladle           2.971          0.212          -0.453         0              90             0              74
  30  Pot             0.423          0.900          0.869          0              0              0              94
  31  Kettle          -0.419         0.902          -1.269         0              315            0              65
  32  Spatula         -1.153         0.915          0.176          0              90             0              63
  33  Knife           -0.239         0.925          -1.496         0              135            0              84
  34  Lettuce         -0.043         0.965          -1.486         0              45             0              84
  35  Cup             1.242          1.245          -1.475         0              0              0              109
  36  SaltShaker      0.101          0.896          -1.373         0              0              0              84
  37  Egg             -0.912         0.952          -0.616         0              45             0              63
  38  PepperShaker    -0.611         0.514          -0.680         0              45             0              86
  39  ButterKnife     -0.090         0.900          -1.440         0              45             0              84
  40  Apple           1.164          0.959          -1.503         0              0              0              109
  41  Pan             3.122          0.900          -0.599         0              0              0              62
  42  Bread           1.534          0.972          0.486          0              289.287        0              94
  43  CellPhone       2.988          0.709          -0.501         0              180            0              59
  44  DishSponge      -0.916         1.257          -0.763         0              45             0              82
  45  Tomato          1.086          0.750          -1.354         0              0              0              109
  46  Spoon           -0.099         0.707          -1.234         0              315            0              73
  47  Bowl            0.760          1.671          -1.480         0              0              0              78
  48  Mug             1.303          1.669          -1.341         0              0              0              54
  49  Drawer          0.376          0.572          -1.509         0              0              0
  50  Drawer          3.020          0.769          -0.783         0              180            0
  51  Drawer          -0.860         0.577          1.429          0              0              0
  52  StoveBurner     -0.600         0.897          -1.090         0              135            0
  53  Drawer          0.376          0.191          -1.509         0              0              0
  54  Cabinet         1.402          1.874          -1.259         0              0              0
  55  Cabinet         -0.202         1.963          -1.328         0              0              0
  56  Drawer          -0.860         0.765          1.429          0              0              0
  57  Drawer          -0.677         0.765          -0.700         0              0              0
  58  StoveBurner     -0.420         0.897          -0.920         0              135            0
  59  Drawer          3.020          0.769          -0.407         0              180            0
  60  Drawer          -0.860         0.577          0.663          0              0              0
  61  Cabinet         2.819          1.768          -1.850         0              0              0
  62  CounterTop      3.111          0.936          0.019          0              0              0
  63  CounterTop      -1.007         0.935          -0.039         0              0              0
  64  Drawer          -0.860         0.385          0.663          0              0              0
  65  StoveBurner     -0.419         0.897          -1.269         0              315            0
  66  Drawer          -0.047         0.573          -1.324         0              0              0
  67  Drawer          -0.860         0.765          0.663          0              0              0
  68  Drawer          -0.860         0.385          -0.100         0              0              0
  69  Drawer          0.376          0.380          -1.509         0              0              0
  70  Drawer          -0.860         0.765          -0.100         0              0              0
  71  Drawer          0.376          0.765          -1.509         0              0              0
  72  Cabinet         2.849          0.419          0.409          0              0              0
  73  Drawer          -0.047         0.765          -1.324         0              0              0
  74  Cabinet         2.849          0.419          -0.610         0              0              0
  75  Cabinet         2.849          0.419          -0.959         0              0              0
  76  Cabinet         3.069          1.666          -0.709         0              0              0
  77  Cabinet         2.819          1.768          -1.047         0              0              0
  78  Cabinet         0.620          1.874          -1.259         0              0              0
  79  Cabinet         0.140          1.666          -1.559         0              0              0
  80  Cabinet         -0.189         1.666          -1.340         0              0              0
  81  Cabinet         -0.709         1.963          -0.819         0              0              0
  82  Cabinet         -0.920         1.665          -0.620         0              0              0
  83  Drawer          -0.860         0.190          -0.100         0              0              0
  84  CounterTop      0.133          0.935          -1.457         0              0              0
  85  Drawer          3.020          0.769          0.695          0              180            0
  86  Drawer          -0.677         0.577          -0.700         0              0              0
  87  Drawer          -0.860         0.190          1.429          0              0              0
  88  Drawer          -0.047         0.192          -1.324         0              0              0
  89  Drawer          -0.677         0.193          -0.700         0              0              0
  90  Drawer          -0.860         0.577          -0.100         0              0              0
  91  Sink            3.078          0.887          0.086          0              0              0
  92  StoveBurner     -0.239         0.897          -1.089         0              315            0
  93  Drawer          -0.860         0.190          0.663          0              0              0
  94  CounterTop      1.210          0.937          0.463          0              0              0
  95  Drawer          -0.047         0.381          -1.324         0              0              0
  96  Drawer          -0.677         0.387          -0.700         0              0              0
  97  Mirror          -1.295         1.630          0.045          0              0              0
  98  Drawer          -0.860         0.385          1.429          0              0              0
  99  HousePlant      3.196          0.891          -0.368         0              0              0
 100  StoveKnob       -0.090         0.790          -1.009         270            45             0
 101  StoveKnob       -0.280         0.790          -0.819         270            45             0
 102  StoveKnob       -0.180         0.790          -0.920         270            45             0
 103  StoveKnob       -0.370         0.790          -0.720         270            45             0
 104  GarbageCan      3.137          0.025          1.545          0              225            0
 105  Window          3.703          1.675          0.046          90             90             0
 106  CoffeeMachine   3.214          0.890          0.697          0              270            0
 107  LightSwitch     2.592          1.309          -1.880         0              0              0
 108  SinkBasin       3.069          0.736          0.108          0              90             0
 109  Fridge          1.008          0.029          -1.467         0              0              0
 110  Toaster         -1.035         0.873          -0.396         0              90             0
 111  Microwave       -1.034         0.874          1.428          0              90             0
 112  Faucet          3.305          0.886          0.094          270            180            0
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: Walk forward and face the counter on the left to the right of the fridge. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn to the left and walk around the table and turn left to face the table. | STEP 4: Cut the full loaf of bread on the table. | STEP 5: Turn around walk forward to the trash bin. | STEP 6: Place the knife into the trash bin. | STEP 7: Turn around and walk forward to face the table with a loaf of bread on it. | STEP 8: Pick up a slice of bread from on the counter. | STEP 9: Turn and walk around the room to face the microwave. | STEP 10: Heat the bread in the microwave. | STEP 11: Turn around and walk across the room to face the trash bin. | STEP 12: Put the slice of bread into the trash bin. | END