Task: pick up knife, cut bread, cook bread in microwave, place bread into 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           1.75           0.900          -1.25          0              270            0
   1  Statue          0.079          1.110          -0.001         0              270            0              59
   2  Potato          -1.880         0.078          1.885          0              270            0              90
   3  CreditCard      -1.733         0.908          -2.713         0              0              0              84
   4  CreditCard      -1.438         0.908          -2.329         0              0              0              84
   5  Plate           -0.912         0.133          -2.402         0              0              0              77
   6  Cup             -1.143         0.909          -2.637         0              0              0              84
   7  Egg             0.324          0.945          -2.714         0              0              0              61
   8  Egg             -2.038         0.575          1.168          0              90             0              92
   9  Tomato          -2.162         0.837          1.334          0              90             0              92
  10  SaltShaker      -1.864         0.126          0.294          0              90             0              65
  11  SaltShaker      1.685          0.549          -2.718         0              180            0              89
  12  PepperShaker    -1.296         0.133          -2.352         0              0              0              77
  13  Knife           -1.586         0.936          -2.406         0              0              0              84
  14  Spoon           -0.197         1.112          -0.506         0              0              0              59
  15  Mug             -2.081         1.497          1.260          0              90             0              92
  16  Spatula         0.355          1.126          -0.253         0              0              0              59
  17  Spatula         0.969          0.925          -2.560         0              0              0              61
  18  Pot             -0.465         0.950          -2.576         0              90             0              68
  19  ButterKnife     -1.852         0.769          -1.328         0              270            0              94
  20  Glassbottle     -0.197         1.112          0.757          0              0              0              59
  21  Glassbottle     -2.018         0.770          -1.760         0              90             0              94
  22  DishSponge      -1.512         1.657          -2.531         0              0              0              75
  23  Bowl            -2.114         1.305          1.008          0              90             0              92
  24  Book            0.155          1.1            0.617          0              315            0              59
  25  Glassbottle     -1.962         0.048          2.076          0              270            0              90
  26  Knife           -0.335         1.136          -0.001         0              0              0              59
  27  Bread           0.355          1.184          -0.506         0              0              0              59
  28  Fork            -1.586         0.911          -2.560         0              0              0              84
  29  Potato          0.324          0.941          -2.407         0              0              0              61
  30  SoapBottle      1.482          0.881          -2.509         0              180            0              86
  31  Kettle          -0.473         1.112          0.757          0              0              0              59
  32  Pan             0.721          0.9            -2.415         0              0              0              61
  33  Plate           0.505          1.656          -2.596         0              0              0              83
  34  Tomato          -2.162         0.837          1.085          0              90             0              92
  35  Vase            -0.335         1.113          0.251          0              0              0              59
  36  Egg             -0.197         1.146          -0.253         0              0              0              59
  37  CreditCard      0.217          1.108          -0.001         0              0              0              59
  38  Statue          0.079          1.110          -0.759         0              0              0              59
  39  WineBottle      -1.805         0.137          -1.273         0              90             0              60
  40  Pot             -0.036         0.950          -2.576         0              270            0              62
  41  Spatula         0.217          1.126          0.251          0              180            0              59
  42  PaperTowelRoll  1.098          1.014          -2.714         0              0              0              61
  43  Cup             -0.898         1.654          -2.568         0              0              0              73
  44  Vase            -1.655         0.133          -1.389         0              90             0              60
  45  Bowl            -1.852         0.766          -1.414         0              90             0              94
  46  SaltShaker      2.096          0.877          -2.509         0              180            0              86
  47  PepperShaker    -1.824         0.474          -0.245         0              90             0              74
  48  Lettuce         -1.693         0.991          -0.698         0              0              0              84
  49  ButterKnife     0.582          0.910          -2.407         0              0              0              61
  50  Apple           -1.693         0.961          -2.256         0              0              0              84
  51  DishSponge      -1.797         0.769          -1.673         0              90             0              94
  52  Spoon           -1.774         0.912          -2.146         0              0              0              84
  53  Mug             0.453          0.905          -2.714         0              0              0              61
  54  StoveBurner     -0.036         0.915          -2.372         0              0              0
  55  Drawer          0.949          0.832          -2.197         0              0              0
  56  Drawer          -1.560         0.839          0.204          0              90             0
  57  StoveBurner     -0.465         0.915          -2.371         0              180            0
  58  Drawer          -1.560         0.839          -0.197         0              90             0
  59  CounterTop      -0.079         1.147          -0.001         0              0              0
  60  Cabinet         -1.549         0.494          -1.964         0              90             0
  61  CounterTop      0.693          0.946          -2.483         0              0              0
  62  StoveBurner     -0.036         0.915          -2.576         0              0              0
  63  Drawer          0.949          0.393          -2.200         0              0              0
  64  Drawer          0.949          0.708          -2.200         0              0              0
  65  Cabinet         -1.549         0.494          0.379          0              90             0
  66  StoveKnob       -0.022         0.881          -2.187         45             0              0
  67  Drawer          0.949          0.560          -2.201         0              0              0
  68  StoveBurner     -0.465         0.915          -2.575         0              180            0
  69  Window          -2.230         1.429          -1.203         0              0              0
  70  StoveKnob       -0.483         0.881          -2.187         45             0              0
  71  Sink            -1.899         0.964          -1.5           0              90             0
  72  StoveKnob       -0.328         0.881          -2.187         45             0              0
  73  Cabinet         -0.727         2.015          -2.460         0              0              0
  74  Drawer          -1.560         0.655          -0.196         0              90             0
  75  Cabinet         -1.685         2.015          -2.461         0              0              0
  76  Cabinet         0.680          0.494          -2.200         0              0              0
  77  Cabinet         -1.179         0.494          -2.200         0              0              0
  78  Cabinet         -1.849         2.015          0.379          0              90             0
  79  Drawer          0.949          0.221          -2.200         0              0              0
  80  StoveKnob       -0.183         0.881          -2.187         45             0              0
  81  Cabinet         0.719          2.015          -2.460         0              0              0
  82  Drawer          -1.560         0.331          -0.196         0              90             0
  83  Cabinet         0.680          2.015          -2.460         0              0              0
  84  CounterTop      -1.868         0.946          -1.205         0              0              0
  85  Microwave       -0.236         1.689          -2.525         0              0              0
  86  Shelf           1.751          0.880          -2.560         0              0              0
  87  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  88  Toaster         -1.835         0.900          0.134          0              90             0
  89  Shelf           1.750          0.552          -2.559         0              0              0
  90  GarbageCan      -1.935         -0.002         2.029          0              270            0
  91  Shelf           1.750          0.172          -2.559         0              0              0
  92  Fridge          -2.096         0.0            1.088          0              0              0
  93  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  94  SinkBasin       -1.908         0.759          -1.488         0              90             0
  95  LightSwitch     2.329          1.309          -0.159         0              270            0
  96  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  97  Stool           0.702          0.000          -0.514         1.202          65.108         0
  98  Stool           0.743          0.000          0.563          1.227          106.706        0
  99  Faucet          -2.070         1.132          -1.514         0              0              0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: walk straight , turn left to counter | STEP 2: pick up knife from the counter | STEP 3: turn around to the island counter  | STEP 4: slice in to the bread with the knife | STEP 5: turn around and walk to the microwave | STEP 6: open microwave door, place knife into microwave, close door | STEP 7: turn to the left, turn left to the island counter | STEP 8: pick up slice of bread from the counter | STEP 9: turn around and walk to the microwave | STEP 10: open microwave door, place bread in, close door, cook, open door, remove bread, close door | STEP 11: turn right, turn right, walk straight, turn left to the trash can | STEP 12: place bread into the trash can | END