Task: Put a knife in a cabinet, and a warm slice of bread in the garbage.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          1.5            0              0              0
   1  Potato          -0.335         1.142          0.757          0              0              0              58
   2  CreditCard      0.453          0.907          -2.714         0              0              0              60
   3  CreditCard      -0.335         1.108          -0.506         0              0              0              58
   4  Egg             -1.797         0.804          -1.501         0              90             0              93
   5  Egg             -0.197         1.146          -0.759         0              0              0              58
   6  Tomato          0.582          0.949          -2.253         0              0              0              60
   7  Tomato          -1.963         0.808          -1.242         0              90             0              93
   8  SoapBottle      -0.059         1.112          0.757          0              0              0              58
   9  SaltShaker      0.079          1.107          -0.759         0              0              0              58
  10  SaltShaker      0.835          0.138          -2.286         0              0              0              78
  11  Bread           -0.197         1.184          -0.506         0              0              0              58
  12  Bread           -0.848         0.983          -2.329         0              0              0              83
  13  Apple           -2.038         0.591          1.251          0              90             0              91
  14  Apple           -2.122         1.553          1.092          0              90             0              91
  15  Fork            0.840          0.911          -2.560         0              180            0              60
  16  Fork            -0.995         0.911          -2.637         0              0              0              83
  17  Spoon           0.892          0.143          -2.431         0              0              0              78
  18  Mug             1.478          0.548          -2.459         0              180            0              88
  19  ButterKnife     -1.852         0.769          -1.328         0              90             0              93
  20  WineBottle      0.582          0.911          -2.637         0              0              0              60
  21  DishSponge      -1.814         0.129          0.203          0              90             0              64
  22  DishSponge      -0.335         1.111          0.251          0              0              0              58
  23  Book            0.155          1.1            0.617          0              315            0              58
  24  Glassbottle     0.840          0.911          -2.714         0              0              0              60
  25  Knife           0.969          0.936          -2.407         0              90             0              60
  26  Bread           0.355          1.184          -0.001         0              0              0              58
  27  Fork            -1.963         0.770          -1.587         0              90             0              93
  28  Potato          -1.999         0.257          1.168          0              90             0              91
  29  SoapBottle      -0.059         1.112          0.251          0              0              0              58
  30  Kettle          -0.036         0.950          -2.576         0              270            0              61
  31  Pan             -1.937         0.911          -2.256         0              180            0              83
  32  Plate           -0.912         0.133          -2.352         0              0              0              76
  33  Tomato          -1.586         0.950          -2.560         0              0              0              83
  34  Vase            -1.200         0.139          -2.352         0              0              0              76
  35  Egg             -1.999         1.538          1.092          0              90             0              91
  36  CreditCard      -1.827         0.790          -0.252         0              90             0              57
  37  Statue          1.955          0.168          -2.543         0              0              0              90
  38  WineBottle      -1.962         0.048          1.933          0              270            0              89
  39  Pot             -0.465         0.950          -2.372         0              90             0              56
  40  Spatula         -2.100         0.926          -2.585         0              90             0              83
  41  PaperTowelRoll  -1.143         1.015          -2.560         0              0              0              83
  42  Cup             -0.473         1.109          0.251          0              0              0              58
  43  Vase            -1.655         0.133          -1.389         0              90             0              59
  44  Bowl            1.478          0.549          -2.666         0              180            0              88
  45  SaltShaker      -0.898         1.652          -2.568         0              0              0              72
  46  PepperShaker    0.615          1.656          -2.667         0              0              0              82
  47  Lettuce         0.324          0.990          -2.407         0              0              0              60
  48  ButterKnife     -0.197         1.111          -0.001         0              0              0              58
  49  Apple           -2.040         1.553          0.925          0              90             0              91
  50  DishSponge      1.891          0.880          -2.536         0              180            0              88
  51  Spoon           0.217          1.112          -0.253         0              0              0              58
  52  Mug             -1.586         0.906          -2.406         0              0              0              83
  53  StoveBurner     -0.036         0.915          -2.372         0              0              0
  54  Drawer          0.949          0.832          -2.197         0              0              0
  55  Drawer          -1.560         0.839          0.204          0              90             0
  56  StoveBurner     -0.465         0.915          -2.371         0              180            0
  57  Drawer          -1.560         0.839          -0.197         0              90             0
  58  CounterTop      -0.079         1.147          -0.001         0              0              0
  59  Cabinet         -1.549         0.494          -1.964         0              90             0
  60  CounterTop      0.693          0.946          -2.483         0              0              0
  61  StoveBurner     -0.036         0.915          -2.576         0              0              0
  62  Drawer          0.949          0.393          -2.200         0              0              0
  63  Drawer          0.949          0.708          -2.200         0              0              0
  64  Cabinet         -1.549         0.494          0.379          0              90             0
  65  StoveKnob       -0.022         0.881          -2.187         45             0              0
  66  Drawer          0.949          0.560          -2.201         0              0              0
  67  StoveBurner     -0.465         0.915          -2.575         0              180            0
  68  Window          -2.230         1.429          -1.203         0              0              0
  69  StoveKnob       -0.483         0.881          -2.187         45             0              0
  70  Sink            -1.899         0.964          -1.5           0              90             0
  71  StoveKnob       -0.328         0.881          -2.187         45             0              0
  72  Cabinet         -0.727         2.015          -2.460         0              0              0
  73  Drawer          -1.560         0.655          -0.196         0              90             0
  74  Cabinet         -1.685         2.015          -2.461         0              0              0
  75  Cabinet         0.680          0.494          -2.200         0              0              0
  76  Cabinet         -1.179         0.494          -2.200         0              0              0
  77  Cabinet         -1.849         2.015          0.379          0              90             0
  78  Drawer          0.949          0.221          -2.200         0              0              0
  79  StoveKnob       -0.183         0.881          -2.187         45             0              0
  80  Cabinet         0.719          2.015          -2.460         0              0              0
  81  Drawer          -1.560         0.331          -0.196         0              90             0
  82  Cabinet         0.680          2.015          -2.460         0              0              0
  83  CounterTop      -1.868         0.946          -1.205         0              0              0
  84  Microwave       -0.236         1.689          -2.525         0              0              0
  85  Shelf           1.751          0.880          -2.560         0              0              0
  86  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  87  Toaster         -1.835         0.900          0.134          0              90             0
  88  Shelf           1.750          0.552          -2.559         0              0              0
  89  GarbageCan      -1.935         -0.002         2.029          0              270            0
  90  Shelf           1.750          0.172          -2.559         0              0              0
  91  Fridge          -2.096         0.0            1.088          0              0              0
  92  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  93  SinkBasin       -1.908         0.759          -1.488         0              90             0
  94  LightSwitch     2.329          1.309          -0.159         0              270            0
  95  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  96  Stool           0.702          0.000          -0.514         1.202          65.108         0
  97  Stool           0.743          0.000          0.563          1.227          106.706        0
  98  Faucet          -2.070         1.132          -1.514         0              0              0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn to your left and go to the refrigerator, then turn to your left again and go to the sink on your right.  | STEP 2: Pick up the knife between the egg and the tomato, in the sink.  | STEP 3: Turn around and walk straight, then turn to your right at the island.  | STEP 4: Cut the loaf of bread, behind the egg, on the island, into slices.  | STEP 5: Turn around and go to the bottom cabinet to the right of the stove.  | STEP 6: Place the knife in the bottom cabinet to the left of the stove.  | STEP 7: Turn around and go back to the island with the bread on it.  | STEP 8: Pick up one of the slices of bread.  | STEP 9: Turn around and go to the microwave, above the stove, in front of you.  | STEP 10: Place the slice of bread in the microwave, heat it up, and remove the slice of bread from the microwave.  | STEP 11: Turn to your right and go to the sink , then turn right again and go across the room to the garbage bin on the floor, just past the refrigerator, on your right.  | STEP 12: Place the potato slice in the garbage can.  | END