Task: Throw a warm bread slice in the waste basket.

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           0.908          3.25           0              180            0
   1  SprayBottle     1.284          0.885          2.369          0              0              0              101
   2  Potato          -1.263         1.333          0.988          0              90             0              89
   3  Potato          1.450          0.931          2.153          0              0              0              101
   4  CellPhone       -1.475         0.746          2.830          0              0              0              50
   5  CellPhone       1.128          0.909          -0.428         0              0              0              69
   6  ButterKnife     1.128          0.911          0.139          0              0              0              69
   7  ButterKnife     1.117          0.886          2.369          0              90             0              101
   8  Glassbottle     1.088          0.116          1.157          0              0              0              66
   9  Spoon           1.155          0.777          0.332          0              90             0              83
  10  Spoon           1.367          0.887          2.477          0              0              0              101
  11  Fork            1.365          0.912          0.139          0              0              0              69
  12  Spatula         1.365          0.926          -0.144         0              0              0              69
  13  Spatula         -0.968         0.927          -0.430         0              180            0              75
  14  Pot             0.502          0.939          -0.740         0              90             0              76
  15  Egg             1.523          0.945          0.422          0              0              0              69
  16  Egg             -0.082         0.793          -0.494         0              0              0              96
  17  Knife           1.200          0.908          2.692          0              0              0              101
  18  Knife           -1.197         0.771          1.902          0              90             0              50
  19  Tomato          -1.012         0.798          2.644          0              0              0              50
  20  Tomato          -1.286         0.961          -0.477         0              0              0              75
  21  SoapBottle      1.219          0.117          0.732          0              0              0              61
  22  Bread           -1.263         1.700          1.086          0              90             0              89
  23  Lettuce         -1.290         0.820          2.644          0              0              0              50
  24  Bread           -1.012         0.812          1.902          0              0              0              50
  25  Glassbottle     -1.105         0.750          2.459          0              0              0              50
  26  Fork            1.284          0.886          2.261          0              0              0              101
  27  Kettle          -1.357         0.739          3.024          0              240.000        0              50
  28  Tomato          1.128          0.961          -0.144         0              0              0              69
  29  Plate           -1.325         1.656          -0.128         0              0              0              58
  30  CellPhone       1.284          0.884          2.692          0              0              0              101
  31  Lettuce         -1.320         0.822          0.883          0              90             0              89
  32  Pot             0.802          0.939          -0.740         0              90             0              78
  33  SoapBottle      0.951          0.887          2.153          0              0              0              101
  34  WineBottle      -1.513         0.913          -0.647         0              0              0              75
  35  Spatula         -1.197         0.763          2.644          0              90             0              50
  36  Bowl            1.286          0.909          0.706          0              0              0              69
  37  Apple           -0.144         0.818          -0.612         0              0              0              96
  38  Cup             -1.357         1.654          0.184          0              0              0              58
  39  Knife           1.450          0.908          2.692          0              90             0              101
  40  Egg             -1.435         1.671          0.883          0              90             0              89
  41  SaltShaker      1.444          0.907          -0.428         0              0              0              69
  42  PepperShaker    -1.475         0.745          2.644          0              0              0              50
  43  Potato          0.951          0.931          2.261          0              0              0              101
  44  ButterKnife     -1.135         0.912          -0.817         0              0              0              75
  45  DishSponge      1.117          0.885          2.800          0              0              0              101
  46  Pan             -1.332         0.9            -0.699         0              345.0          0              75
  47  Spoon           0.103          0.759          -0.651         0              0              0              96
  48  SprayBottle     -1.012         0.749          2.459          0              0              0              50
  49  Mug             1.034          0.881          2.800          0              0              0              101
  50  DiningTable     -1.182         0.006          2.414          0              90             0
  51  Cabinet         1.184          2.059          0.375          0              0              0
  52  Cabinet         1.184          2.059          -0.635         0              0              0
  53  Cabinet         0.591          2.309          -0.645         0              0              0
  54  Cabinet         -0.574         2.059          -0.644         0              0              0
  55  Cabinet         -1.103         2.059          -0.644         0              0              0
  56  Cabinet         -1.185         2.059          -0.331         0              0              0
  57  Cabinet         -1.185         2.059          -0.281         0              0              0
  58  Cabinet         -1.185         2.059          0.375          0              0              0
  59  Cabinet         1.184          2.309          1.174          0              0              0
  60  Cabinet         1.184          2.309          0.424          0              0              0
  61  Cabinet         0.988          0.402          0.581          0              0              0
  62  Cabinet         0.988          0.402          0.531          0              0              0
  63  Cabinet         0.988          0.402          -0.178         0              0              0
  64  Cabinet         0.335          0.402          -0.348         0              0              0
  65  Cabinet         -0.374         0.402          -0.348         0              0              0
  66  Cabinet         0.988          0.402          1.231          0              0              0
  67  Cabinet         -1.185         2.309          1.374          0              0              0
  68  Cabinet         -1.185         2.309          0.424          0              0              0
  69  CounterTop      1.274          0.947          0.064          0              0              0
  70  Drawer          1.116          0.792          -0.015         0              0              0
  71  Drawer          -1.116         0.792          0.210          0              180            0
  72  Cabinet         -0.990         0.402          0.374          0              180            0
  73  Drawer          -1.116         0.792          -0.170         0              180            0
  74  Cabinet         -0.990         0.402          -0.335         0              180            0
  75  CounterTop      -1.001         0.947          -0.669         0              0              0
  76  StoveBurner     0.502          0.932          -0.740         0              90             0
  77  StoveBurner     0.801          0.932          -0.473         0              0              0
  78  StoveBurner     0.801          0.932          -0.740         0              90             0
  79  Drawer          1.116          0.792          1.081          0              0              0
  80  Sink            -0.013         0.912          -0.615         0              0              0
  81  Drawer          1.116          0.792          0.732          0              0              0
  82  StoveBurner     0.502          0.932          -0.469         0              0              0
  83  Drawer          1.116          0.792          0.367          0              0              0
  84  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  86  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  87  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  88  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  89  Fridge          -1.300         0.008          0.987          0              90             0
  90  GarbageCan      1.296          -0.024         1.465          0              0              0
  91  Window          -0.012         1.641          -0.972         90             0              0
  92  Window          1.598          1.646          2.489          90             270            0
  93  Toaster         1.356          0.900          1.044          0              270            0
  94  LightSwitch     0.118          1.353          3.799          0              180            0
  95  Microwave       -1.343         0.900          0.053          0              90             0
  96  SinkBasin       -0.029         0.748          -0.612         0              0              0
  97  Faucet          -0.026         0.927          -0.808         0              0              0
  98  Shelf           -1.182         0.127          2.414          0              90             0
  99  Stool           1.140          0.007          3.262          1.206          20.753         0
 100  Shelf           -1.182         0.435          2.414          0              90             0
 101  DiningTable     1.169          0.014          2.569          0              0              1.896
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn right and go to the white table across the room. | STEP 2: Pick up the loaf of bread on the table. | STEP 3: Turn left and walk forward to the counter | STEP 4: Place the bread on the counter by the spatula. | STEP 5: Pick up the knife in the sink. | STEP 6: Slice half of the bread loaf with the knife. | STEP 7: Place the knife down on the counter. | STEP 8: Pick up a slice of bread from the counter. | STEP 9: Turn right and face the microwave. | STEP 10: Place the bread slice in the microwave and cook it. | STEP 11: Turn right and go to the waste basket underneath the toaster. | STEP 12: Place the bread slice in the waste basket. | END