Task: To heat a bread slice and place it 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           -0.75          0.900          -0.75          0              270            0
   1  Ladle           1.465          1.704          -2.162         0              0              0              46
   2  Spatula         0.408          0.945          1.220          0              180            0              76
   3  Fork            0.522          0.931          0.991          0              0              0              76
   4  Egg             1.466          0.967          -1.797         0              0              0              59
   5  Egg             0.294          0.984          0.534          0              0              0              76
   6  Cup             0.180          0.930          0.076          0              0              0              76
   7  Plate           0.180          0.930          0.991          0              0              0              76
   8  Plate           1.566          0.556          2.431          0              0              0              79
   9  Knife           0.180          0.950          1.448          0              0              0              76
  10  Knife           0.008          0.787          -2.026         0              0              0              71
  11  Tomato          -0.137         0.816          -1.936         0              0              0              71
  12  SaltShaker      1.833          1.653          -1.479         0              270            0              49
  13  PepperShaker    -1.072         0.909          -2.260         0              0              0              59
  14  PepperShaker    1.332          0.115          -1.914         0              0              0              51
  15  Apple           -0.047         0.997          0.534          0              0              0              76
  16  Apple           0.294          0.997          1.220          0              0              0              76
  17  Apple           -1.036         0.984          -2.115         0              0              0              59
  18  Potato          -1.219         1.044          -1.846         0              90             0              65
  19  Bowl            -0.160         0.927          0.991          0              0              0              76
  20  SoapBottle      -1.355         1.658          -1.854         0              90             0              42
  21  Fork            0.002          0.914          -1.737         0              0              0              59
  22  Ladle           1.909          1.702          -1.673         0              270            0              49
  23  Bread           0.399          0.964          0.110          0              0              1.601          76
  24  Lettuce         -0.047         1.011          0.076          0              0              0              76
  25  WineBottle      0.294          0.931          0.762          0              0              0              76
  26  Spatula         0.066          0.941          0.305          0              0              0              76
  27  Plate           1.690          0.123          -1.266         0              270            0              53
  28  SaltShaker      -0.984         0.122          -1.501         0              90             0              52
  29  Pot             1.567          0.948          -0.757         0              0              0              41
  30  Cup             0.408          0.930          0.991          0              0              0              76
  31  PepperShaker    1.850          0.909          -1.918         0              0              0              59
  32  Pan             1.845          0.948          -0.355         0              0              0              40
  33  ButterKnife     -0.720         0.913          -2.167         0              0              0              59
  34  Tomato          0.180          0.978          0.534          0              0              0              76
  35  DishSponge      1.362          0.880          2.483          0              0              0              85
  36  Egg             0.081          0.818          -1.936         0              0              0              71
  37  Spoon           0.180          0.928          0.762          0              270            0              76
  38  Knife           1.647          0.936          -1.680         0              90             0              59
  39  Mug             -0.210         0.759          -2.116         0              180            0              71
  40  StoveBurner     1.845          0.940          -0.355         0              0              0
  41  StoveBurner     1.567          0.940          -0.757         0              0              0
  42  Cabinet         -1.149         2.019          -1.979         0              90             0
  43  Cabinet         -1.149         2.265          -0.834         0              90             0
  44  Cabinet         -0.459         2.265          -2.0           0              0              0
  45  Cabinet         -1.100         2.019          -2.0           0              0              0
  46  Cabinet         1.719          2.019          -2.0           0              0              0
  47  Cabinet         1.179          2.019          -2.0           0              0              0
  48  Cabinet         0.199          2.019          -2.0           0              0              0
  49  Cabinet         1.75           2.019          -1.399         0              270            0
  50  Cabinet         1.75           2.019          -1.029         0              270            0
  51  Cabinet         1.379          0.469          -1.689         0              0              0
  52  Cabinet         -0.819         0.469          -1.689         0              0              0
  53  Cabinet         1.389          0.469          -1.059         0              270            0
  54  Cabinet         -0.839         0.469          -1.665         0              90             0
  55  StoveBurner     1.567          0.940          -0.355         0              0              0
  56  StoveBurner     1.845          0.940          -0.757         0              0              0
  57  Sink            -0.109         0.893          -2.009         0              0              0
  58  Drawer          -0.819         0.75           -1.690         0              0              0
  59  CounterTop      0.232          0.949          -2.002         0              0              0
  60  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  61  Vase            0.251          0.546          0.475          0              270            0
  62  Toaster         0.780          0.900          -2.080         0              0              0
  63  LightSwitch     0.108          1.315          2.75           0              180            0
  64  Vase            0.400          0.925          0.218          0              180            0
  65  Microwave       -1.233         0.900          -1.680         0              90             0
  66  Vase            1.465          1.662          -2.200         0              0              0
  67  Fridge          -1.495         0.0            -0.703         0              0              0
  68  Window          2.114          1.495          1.072          90             270            0
  69  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  70  Vase            0.333          0.546          1.272          0              270            0
  71  SinkBasin       -0.148         0.753          -2.026         0              0              0
  72  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  73  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  74  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  75  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  76  DiningTable     0.170          0.005          0.678          0              270            0
  77  Shelf           0.170          0.155          0.678          0              270            0
  78  Shelf           1.605          0.172          2.480          0              0              0
  79  Shelf           1.605          0.552          2.480          0              0              0
  80  Shelf           1.604          0.880          2.479          0              0              0
  81  ShelvingUnit    1.605          0.006          2.480          0              0              0
  82  Faucet          -0.143         1.028          -2.223         0              270            0
  83  Stool           -0.553         0.000          0.871          1.233          280.376        0
  84  Shelf           0.170          0.528          0.678          0              270            0
  85
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn around and walk forward to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn to the left and walk forward to face the bread on the table. | STEP 4: Cut the bread on the table into slices. | STEP 5: TUrn to the right and face the bottom right drawer under the counter. | STEP 6: Place the knife in the cabinet on the right under the counter. | STEP 7: Turn to the left and step forward to face the bread on the table. | STEP 8: Pick up a slice of bread on the table. | STEP 9: Turn left and step forward to face the fridge. | STEP 10: Cool the bread slice in the fridge and then remove it. | STEP 11: Turn around and walk across the room to face the trash can. | STEP 12: Place the bread slice in the trash can. | END