Task: Place a slice of heated slice of bread in front of the toaster.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          0.0            0              90             0
   1  Kettle          1.781          0.913          -1.737         0              0              0              55
   2  Kettle          -1.791         0.953          0.255          0              90             0              88
   3  Pan             -2.31          1.051          -1.763         0              270            0              85
   4  DishSponge      -0.150         0.773          -1.473         0              0              0              58
   5  DishSponge      -0.361         0.069          0.439          0              90             0              84
   6  ButterKnife     -2.203         0.952          0.255          0              90             0              88
   7  ButterKnife     -2.340         0.952          0.435          0              180            0              88
   8  Spatula         -0.175         0.927          -1.903         0              90             0              55
   9  Spatula         0.649          0.934          -1.782         0              90             0              53
  10  Cup             -0.644         1.327          -1.846         0              180            0              49
  11  Cup             0.009          0.910          -1.820         0              0              0              55
  12  Plate           1.167          0.913          -1.489         0              0              0              55
  13  Knife           -0.267         0.937          -1.820         0              90             0              55
  14  SoapBottle      1.663          0.910          0.623          0              0              0              70
  15  Tomato          -0.359         0.961          -1.903         0              0              0              55
  16  Tomato          -2.614         1.001          0.704          0              90             0              88
  17  Bowl            -2.203         0.951          0.345          0              90             0              88
  18  Bowl            1.754          1.328          -1.772         0              180            0              71
  19  SaltShaker      -0.096         0.908          0.292          0              0              0              54
  20  SaltShaker      1.601          0.908          0.375          0              0              0              70
  21  PepperShaker    -2.203         0.948          0.704          0              90             0              88
  22  PepperShaker    -1.928         0.948          0.614          0              90             0              88
  23  Bread           -1.928         1.035          0.435          0              90             0              88
  24  Bread           1.785          0.995          0.375          0              0              0              70
  25  Mug             -0.147         0.105          -1.471         0              0              0              64
  26  Bread           1.781          0.995          -1.489         0              0              0              55
  27  Knife           -1.928         0.977          0.255          0              90             0              88
  28  Fork            -0.540         0.773          -1.505         0              0              0              59
  29  Bowl            1.830          0.107          0.274          0              0              0              63
  30  Kettle          1.361          0.962          0.561          0              270            0              60
  31  Cup             -0.079         0.104          0.397          0              0              0              65
  32  Tomato          -2.31          1.541          -1.806         0              0              0              85
  33  SoapBottle      -0.296         0.068          0.612          0              90             0              84
  34  Plate           -2.047         0.512          -1.763         0              0              0              85
  35  Pot             -2.383         0.94           0.583          0              0              0              88
  36  Spatula         -1.928         0.967          0.704          0              180            0              88
  37  PaperTowelRoll  -0.394         0.174          0.569          0              90             0              84
  38  Egg             -2.065         0.987          0.704          0              90             0              88
  39  Lettuce         -0.096         1.002          0.623          0              0              0              54
  40  SaltShaker      0.167          0.908          0.458          0              0              0              54
  41  PepperShaker    0.271          0.104          -1.509         0              180            0              52
  42  Apple           -2.614         1.019          0.345          0              90             0              88
  43  ButterKnife     -1.928         0.952          0.524          0              180            0              88
  44  Potato          0.753          0.949          -1.848         0              270            0              53
  45  Pan             1.022          0.959          0.288          0              219.190        0              67
  46  DishSponge      0.564          0.911          0.292          0              0              0              54
  47  Spoon           0.412          0.777          -1.552         0              0              0              78
  48  Mug             0.618          0.945          0.469          0              180            0              79
  49  Cabinet         -0.193         1.688          -1.648         0              180            0
  50  StoveBurner     1.360          0.957          0.293          0              180            0
  51  Drawer          0.499          0.792          0.296          0              0              0
  52  Cabinet         0.095          0.400          -1.352         0              180            0
  53  Sink            0.711          0.817          -1.772         0              270            0
  54  CounterTop      0.280          0.947          0.458          0              0              0
  55  CounterTop      -0.680         0.947          -1.654         0              0              0
  56  Drawer          1.825          0.792          0.296          0              0              0
  57  StoveBurner     1.007          0.957          0.561          0              270            0
  58  Drawer          -0.150         0.792          -1.496         0              0              0
  59  Drawer          -0.586         0.792          -1.496         0              0              0
  60  StoveBurner     1.360          0.957          0.561          0              270            0
  61  Drawer          0.024          0.792          0.296          0              0              0
  62  Cabinet         1.079          0.400          -1.349         0              180            0
  63  Cabinet         1.669          0.402          0.151          0              0              0
  64  Cabinet         0.055          0.402          -1.351         0              0              0
  65  Cabinet         -0.180         0.402          0.151          0              0              0
  66  Cabinet         0.729          0.402          0.151          0              0              0
  67  StoveBurner     1.007          0.957          0.293          0              180            0
  68  Drawer          -1.100         0.792          -1.496         0              0              0
  69  Cabinet         -0.396         0.402          -1.351         0              0              0
  70  CounterTop      1.776          0.947          0.458          0              0              0
  71  Cabinet         1.974          1.688          -1.648         0              180            0
  72  Cabinet         -0.820         0.400          -1.349         0              180            0
  73  Toaster         0.305          0.900          0.552          0              180            0
  74  LightSwitch     -2.756         1.307          -0.987         0              90             0
  75  Window          0.582          1.613          -1.967         90             0              0
  76  Window          1.969          1.5            -0.615         90             270            0
  77  Microwave       -1.037         0.900          -1.723         0              0              0
  78  SinkBasin       0.377          0.765          -1.655         0              270            0
  79  CoffeeMachine   0.618          0.900          0.600          0              180            0
  80  StoveKnob       1.246          0.913          0.118          45             180            0
  81  StoveKnob       1.373          0.913          0.118          45             180            0
  82  StoveKnob       0.995          0.913          0.118          45             180            0
  83  StoveKnob       1.126          0.913          0.118          45             180            0
  84  GarbageCan      -0.368         -0.029         0.539          0              90             0
  85  Fridge          -2.134         0.0            -1.690         0              0              0
  86  Faucet          0.549          1.046          -1.833         0              232.527        0
  87  Stool           -1.475         0.000          0.414          1.233          280.375        0
  88  DiningTable     -2.255         -0.004         0.432          0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn right and walk straight towards the counter in between the sink and microwave. | STEP 2: Pick up the yellow knife in front of the spatula on the counter. | STEP 3: Turn right and head towards the loaf of bread next to the stove on your left. | STEP 4: Slice a piece of bread on the counter. | STEP 5: Place the knife on the counter. | STEP 6: Pick up the slice of bread from the counter. | STEP 7: Turn left and walk towards the microwave on  the counter to your left. | STEP 8: Place the bread in the microwave, heat it cup, and take it out of the microwave. | STEP 9: Turn left and walk towards the toaster on the counter to your left. | STEP 10: Place the slice of in front of the toaster on the counter. | END