Task: Slice, heat and place a piece of bread on a kitchen table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.901          -1.5           0              180            0
   1  Pan             -0.447         0.912          -3.952         0              90             0              34
   2  ButterKnife     -0.257         0.916          -0.472         0              180            0              61
   3  Fork            -2.803         0.717          -0.780         0              0              0              78
   4  Egg             -0.314         0.115          0.097          0              270            0              73
   5  Cup             -0.373         0.081          -3.081         0              0              0              45
   6  Plate           -3.182         1.397          -2.125         0              90             0              75
   7  Plate           -1.058         0.911          -3.655         0              0              0              34
   8  Knife           -2.865         0.746          -0.638         0              180            0              78
   9  SoapBottle      -0.413         0.080          -1.337         0              0              0              39
  10  PepperShaker    -1.436         0.910          -4.008         0              0              0              34
  11  Bread           -3.309         0.954          -2.926         0              0              0              34
  12  Bread           -2.928         0.754          -0.780         0              0              0              78
  13  Pot             -2.836         0.903          -3.745         0              92.628         0              34
  14  Egg             -3.130         0.677          -1.879         0              90             0              75
  15  Cup             -3.079         1.013          -2.187         0              90             0              75
  16  Bread           -0.244         0.954          -2.911         0              0              0              34
  17  Fork            -0.338         0.916          -1.432         0              0              0              61
  18  Pan             -0.165         0.975          -2.030         0              180            0              65
  19  Potato          -0.076         0.957          -2.911         0              0              0              34
  20  Lettuce         -3.182         1.101          -1.941         0              90             0              75
  21  Tomato          -3.079         0.690          -2.002         0              90             0              75
  22  Apple           -2.564         0.756          -0.797         0              135            0              78
  23  SoapBottle      -0.118         1.294          -1.201         0              0              0              40
  24  Spatula         -1.845         0.805          -3.747         0              180            0              76
  25  SaltShaker      -3.150         0.710          -0.620         0              270            0              78
  26  Knife           -3.167         0.749          -0.797         0              225            0              78
  27  PepperShaker    -3.255         0.713          -0.709         0              225            0              78
  28  ButterKnife     -2.581         0.713          -0.496         0              270            0              78
  29  Plate           -0.191         1.295          -3.625         0              45             0              54
  30  DishSponge      -3.338         1.291          -2.881         0              0              0              46
  31  Spoon           -1.914         0.791          -3.790         0              0              0              76
  32  Mug             -0.500         0.911          -1.677         0              0              0              61
  33  Bowl            -2.439         0.711          -0.433         0              270            0              78
  34  CounterTop      -1.789         0.949          -3.803         0              0              0
  35  Cabinet         -0.577         0.388          -3.476         0              0              0
  36  Cabinet         -0.605         0.388          -3.511         0              0              0
  37  Cabinet         -2.976         0.388          -3.201         0              0              0
  38  Cabinet         -0.577         0.388          -0.447         0              0              0
  39  Cabinet         -0.577         0.388          -1.725         0              0              0
  40  Cabinet         -0.226         1.803          -1.743         0              0              0
  41  Cabinet         -0.228         1.799          -0.447         0              0              0
  42  Cabinet         -6.010         1.139          -6.019         0              0              0
  43  Cabinet         -3.022         2.098          -2.681         0              0              0
  44  Cabinet         -3.022         2.098          -1.743         0              0              0
  45  Cabinet         -0.577         0.388          -2.736         0              0              0
  46  Cabinet         -3.232         1.803          -3.343         0              0              0
  47  Cabinet         -2.811         1.810          -3.764         0              0              0
  48  Cabinet         -1.233         1.810          -3.764         0              0              0
  49  Cabinet         -1.364         0.388          -3.511         0              0              0
  50  Cabinet         -1.380         0.388          -3.511         0              0              0
  51  Cabinet         -0.226         1.803          -2.725         0              0              0
  52  Cabinet         -0.236         2.098          -1.767         0              0              0
  53  Cabinet         -0.236         2.098          -2.705         0              0              0
  54  Cabinet         -0.193         1.210          -4.239         0              0              0
  55  Cabinet         -2.148         0.388          -3.511         0              0              0
  56  Drawer          -3.104         0.797          -2.968         0              0              0
  57  Drawer          -0.449         0.797          -1.410         0              0              0
  58  Sink            -1.786         0.902          -3.748         0              0              0
  59  StoveBurner     -0.376         0.936          -2.451         0              0              0
  60  Drawer          -0.449         0.797          -0.762         0              0              0
  61  CounterTop      -0.268         0.951          -1.089         0              0              0
  62  Drawer          -0.449         0.797          -3.348         0              0              0
  63  StoveBurner     -0.376         0.936          -2.031         0              180            0
  64  Drawer          -0.449         0.797          -2.968         0              0              0
  65  StoveBurner     -0.165         0.936          -2.030         0              180            0
  66  StoveBurner     -0.165         0.936          -2.450         0              0              0
  67  StoveKnob       -0.568         0.903          -2.313         45             270            0
  68  StoveKnob       -0.568         0.903          -2.470         45             270            0
  69  StoveKnob       -0.568         0.903          -2.166         45             270            0
  70  StoveKnob       -0.568         0.903          -2.003         45             270            0
  71  Microwave       -0.143         0.903          -0.908         0              270            0
  72  LightSwitch     -1.108         1.457          0.338          0              180            0
  73  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  74  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  75  Fridge          -3.188         0.0            -2.184         0              0              0
  76  SinkBasin       -1.786         0.779          -3.747         0              0              0
  77  Toaster         -0.230         0.903          -3.406         0              270            0
  78  DiningTable     -2.800         0.003          -0.505         0              0              0
  79  Chair           -3.044         0.003          -1.223         0              32.194         0
  80  Faucet          -1.791         1.136          -3.913         0              270            0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn around and face the wooden table | STEP 2: Pick up the knife off of the table | STEP 3: Move slightly to your left and face the table again | STEP 4: Slice the loaf of bread | STEP 5: Move slightly to your right and face the table again | STEP 6: Put the knife down on the table | STEP 7: Move slightly to your left and face the table again | STEP 8: Pick up a slice of bread | STEP 9: Turn all the way to the right and face the microwave | STEP 10: Put the bread in the microwave and cook it for a few seconds | STEP 11: Turn all the way around and face back the to the table | STEP 12: Put down the bread on to the table | END