Task: put a cooked slice of bread on to 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            0.869          -3.5           0              0              0
   1  Potato          0.630          0.805          -0.845         0              90             0              63
   2  Fork            0.817          0.761          0.002          0              270            0              39
   3  Fork            0.901          0.665          0.387          0              0              0              45
   4  Pot             -2.097         0.930          1.049          0              0              0              47
   5  Knife           0.877          0.906          -0.245         0              90             0              40
   6  Knife           0.769          0.782          0.002          0              270            0              39
   7  SoapBottle      0.950          0.882          -0.108         0              0              0              40
   8  SoapBottle      0.787          0.014          -0.184         0              0              0              50
   9  Bowl            -1.719         0.700          -1.307         0              0              0              76
  10  Bowl            0.949          1.462          0.411          0              0              0              52
  11  PepperShaker    1.040          1.460          0.226          0              0              0              52
  12  SaltShaker      0.781          0.660          0.265          0              0              0              45
  13  SaltShaker      0.781          0.660          0.630          0              0              0              45
  14  Mug             0.901          0.659          0.569          0              0              0              45
  15  Mug             0.698          0.941          -1.360         0              270            0              53
  16  Apple           -1.261         0.105          -3.574         0              270            0              55
  17  Apple           0.672          0.826          -0.680         0              270            0              63
  18  Pot             -1.555         0.930          1.049          0              0              0              49
  19  Plate           -2.023         0.692          -1.447         0              0              0              76
  20  Fork            0.671          0.760          0.002          0              270            0              39
  21  SoapBottle      -0.051         0.899          1.101          0              270            0              66
  22  Apple           0.721          0.718          0.448          0              0              0              45
  23  Pan             0.740          -0.007         -0.596         0              0              0              43
  24  Egg             1.025          0.920          -0.460         0              0              0              40
  25  Spatula         0.720          0.775          -0.252         0              90             0              39
  26  Potato          0.669          1.191          -1.880         0              270            0              60
  27  Cup             0.729          0.882          0.029          0              0              0              40
  28  SaltShaker      0.961          0.661          0.387          0              0              0              45
  29  PepperShaker    -1.599         0.696          -3.614         0              0              0              67
  30  ButterKnife     -0.855         0.900          0.929          0              270            0              66
  31  DishSponge      0.661          0.664          0.326          0              0              0              45
  32  Bread           -0.051         0.944          0.843          0              270            0              66
  33  Lettuce         -1.084         0.973          0.955          41.452         1.687          2.953          66
  34  Tomato          0.582          0.931          0.029          0              0              0              40
  35  Spoon           0.655          0.884          -0.176         0              90             0              40
  36  Knife           -0.855         0.923          1.187          0              270            0              66
  37  Mug             0.566          0.010          -0.768         0              90             0              43
  38  Bowl            -2.038         0.691          -1.003         0              0              0              76
  39  Drawer          0.706          0.766          -0.125         0              0              0
  40  CounterTop      0.792          0.919          -0.108         0              0              0
  41  Mirror          1.093          1.602          -0.643         0              0              0
  42  StoveBurner     -2.096         0.890          0.785          0              0              0
  43  Cabinet         0.507          0.345          -0.426         0              0              0
  44  StoveBurner     -1.552         0.890          0.785          0              0              0
  45  SideTable       0.770          -0.030         0.443          0              0              0
  46  Sink            0.753          0.882          -0.680         0              0              0
  47  StoveBurner     -2.096         0.890          1.049          0              0              0
  48  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  49  StoveBurner     -1.554         0.890          1.049          0              0              0
  50  Cabinet         0.507          0.345          0.156          0              0              0
  51  Cabinet         0.717          1.822          -0.398         0              0              0
  52  Cabinet         0.717          1.822          0.669          0              0              0
  53  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  54  Toaster         -0.522         0.886          1.081          0              180            0
  55  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  56  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  58  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  59  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  60  Fridge          0.680          -0.031         -1.957         0              0              0
  61  Window          -2.424         1.639          -2.453         90             270            0
  62  Microwave       -1.994         0.690          -3.651         0              0              0
  63  SinkBasin       0.757          0.762          -0.688         0              270            0
  64  LightSwitch     1.102          1.368          -3.737         0              270            0
  65  Shelf           -0.350         0.124          0.857          0              0              0
  66  DiningTable     -0.350         -0.025         0.857          0              0              0
  67  DiningTable     -1.909         -0.032         -3.507         0              0              0
  68  Blinds          -2.343         2.151          -2.437         0              270            0
  69  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  70  AluminumFoil    0.751          0.225          0.287          0              0              0
  71  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  72  Shelf           0.771          0.226          0.445          0              0              0
  73  Shelf           0.771          0.456          0.446          0              0              0
  74  Faucet          1.025          0.873          -0.678         270            180            0
  75  Shelf           -0.350         0.497          0.857          0              0              0
  76  DiningTable     -1.929         -0.035         -1.398         0              90             0
  77  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: turn right and head across the room to the counter with the sink on the right | STEP 2: turn and face the counter to pick up the knife with the yellow handle that is behind the spoon | STEP 3: turn to the left to face the white table with the loaf of bread | STEP 4: slice the loaf of bread that is on the table | STEP 5: turn back to the right to face the counter again | STEP 6: , open the drawer on the left side of the sink and place the knife inside the drawer to the right of the two forks with the pointed edge facing forward | STEP 7: turn back to the left facing the table with the loaf of bread | STEP 8: pick up a slice of bread | STEP 9: turn and walk to the other side of the room passing the dining table on your right to the microwave in the corner to the right of the silver trash can | STEP 10: open the microwave door, place the slice of bread into the microwave, close the door, cook for five seconds and remove the bread from the microwave | STEP 11: turn around and go back across the room turning right to face the counter | STEP 12: place the slice of bread on the counter in front of the spoon and to the right of the tomato | END