Task: Slice bread, grab a slice, cook it in the microwave, put it on the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.931          -0.25          0              0              0
   1  Pan             -0.491         0.203          -1.337         0              0              0              57
   2  Potato          -1.419         1.542          1.796          0              90             0              63
   3  Potato          -1.303         1.542          2.331          0              90             0              63
   4  DishSponge      -0.760         0.203          -1.481         0              0              0              57
   5  DishSponge      -0.603         1.046          -1.181         0              0              0              48
   6  ButterKnife     1.347          1.043          0.763          0              0              0              50
   7  Pot             0.389          1.053          -1.630         0              0              0              44
   8  Spoon           0.065          1.044          0.630          0              180            0              50
   9  Spatula         1.612          1.058          0.199          0              90             0              50
  10  Spatula         -0.775         1.061          -1.720         0              90             0              48
  11  Egg             -0.260         1.101          -1.720         0              0              0              48
  12  Cup             1.741          0.205          -1.480         0              0              0              58
  13  Knife           -0.038         1.072          -1.086         0              0              0              48
  14  Tomato          -1.051         0.758          2.063          0              90             0              63
  15  SaltShaker      1.514          1.038          0.545          0              0              0              50
  16  PepperShaker    0.885          1.560          -1.614         0              0              0              52
  17  PepperShaker    1.894          0.199          -1.190         0              0              0              58
  18  Bread           -0.030         1.117          0.415          0              0              0              50
  19  Mug             -1.145         1.711          -1.300         0              0              0              62
  20  Mug             1.523          1.038          0.307          0              0              0              50
  21  Apple           0.848          1.097          0.381          0              90             0              46
  22  SoapBottle      1.436          0.205          -1.625         0              0              0              58
  23  Apple           -1.431         1.271          1.974          0              90             0              63
  24  Potato          0.282          1.085          0.120          0              0              0              50
  25  Fork            1.612          1.043          0.738          0              0              0              50
  26  Kettle          0.007          1.050          -1.400         0              0              0              47
  27  Pan             0.965          1.035          -1.66          0              290.450        0              48
  28  Tomato          0.936          1.105          0.281          0              90             0              46
  29  SaltShaker      1.897          1.014          -1.337         0              0              0              54
  30  Egg             -0.603         1.101          -1.505         0              0              0              48
  31  Cup             -1.423         1.713          1.885          0              90             0              63
  32  Spatula         1.523          1.058          0.522          0              180            0              50
  33  Knife           -0.517         1.072          -1.289         0              0              0              48
  34  Lettuce         -1.349         1.773          2.242          0              90             0              63
  35  ButterKnife     -0.346         1.046          -1.181         0              0              0              48
  36  PepperShaker    -0.775         1.041          -1.397         0              0              0              48
  37  DishSponge      -0.949         0.202          -1.193         0              0              0              56
  38  Plate           1.512          0.217          -1.262         0              0              0              58
  39  Bread           0.405          1.104          0.353          0              337.138        0              50
  40  Spoon           0.848          1.044          0.763          0              0              0              50
  41  Pot             0.120          1.053          -1.630         0              0              0              51
  42  Mug             -1.103         1.223          1.974          0              90             0              63
  43  Bowl            -1.303         1.488          2.153          0              90             0              63
  44  StoveBurner     0.389          1.043          -1.630         0              0              0
  45  SinkBasin       1.211          0.882          0.236          0              90             0
  46  Sink            0.928          0.941          0.324          0              90             0
  47  StoveBurner     0.000          1.048          -1.399         0              0              0
  48  CounterTop      0.196          1.082          -1.504         0              0              0
  49  StoveBurner     0.5            1.048          -1.399         0              0              0
  50  CounterTop      0.968          1.078          0.415          0              0              0
  51  StoveBurner     0.120          1.043          -1.630         0              0              0
  52  Cabinet         1.322          1.955          -1.309         0              0              0
  53  Cabinet         -0.866         1.955          -1.309         0              0              0
  54  Cabinet         1.993          1.403          -1.110         0              0              0
  55  Cabinet         -1.547         2.001          -1.110         0              0              0
  56  Cabinet         -1.526         0.593          -1.110         0              0              0
  57  Cabinet         -0.852         0.589          -1.110         0              0              0
  58  Cabinet         1.990          0.593          -1.110         0              0              0
  59  Cabinet         1.336          0.589          -1.110         0              0              0
  60  StoveBurner     0.250          1.048          -1.399         0              0              0
  61  Toaster         -0.550         1.035          -1.776         0              0              0
  62  Microwave       -1.189         1.624          -1.284         0              0              0
  63  Fridge          -1.286         0.020          1.832          0              90             0
  64  GarbageCan      1.856          -0.019         2.386          0              270            0
  65  LightSwitch     1.016          1.360          2.619          0              180            0
  66  CoffeeMachine   1.929          1.031          0.440          0              270            0
  67  StoveKnob       0.0            1.046          -1.220         0              0              0
  68  StoveKnob       0.090          1.046          -1.220         0              0              0
  69  StoveKnob       0.246          1.046          -1.220         0              0              0
  70  StoveKnob       0.490          1.046          -1.220         0              0              0
  71  StoveKnob       0.389          1.046          -1.220         0              0              0
  72  Faucet          1.277          1.265          0.384          0              90             0
  73  Chair           0.343          0.031          0.976          0              166.747        0
  74  Chair           1.008          0.031          1.034          0              180            0
  75  Chair           1.575          0.031          1.050          0              210.000        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Walk towards the counter | STEP 2: Grab yellow knife from counter | STEP 3: Walk with the knife towards the table | STEP 4: Slice bread on the table | STEP 5: Look up from the table | STEP 6: Put knife on the table | STEP 7: Look down from the table | STEP 8: Grab a bread slice from the table | STEP 9: Walk with the bread slice towards the microwave | STEP 10: Put the bread slice in the microwave, cook it and take it out | STEP 11: Walk with the bread slice towards the counter | STEP 12: Put the bread slice on the counter | END