Task: put a slice of heated bread on to the table

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            0.901          1.0            0              90             0
   1  Potato          2.225          0.978          0.361          0              90             0              64
   2  Ladle           2.150          0.982          1.964          0              0              0              53
   3  DishSponge      1.840          0.937          0.657          0              0              0              64
   4  DishSponge      2.280          1.503          0.725          0              0              0              61
   5  Spatula         1.118          0.810          2.529          0              90             0              77
   6  Spoon           1.941          0.746          0.721          0              0              0              62
   7  Spoon           -0.033         0.747          1.925          0              0              0              52
   8  Fork            0.033          0.791          0.713          0              90             0              80
   9  Fork            2.011          0.746          0.652          0              90             0              62
  10  Egg             -0.349         0.833          0.713          0              0              0              80
  11  Egg             2.122          0.644          -0.278         0              270            0              74
  12  Knife           0.033          0.816          0.377          0              90             0              80
  13  SoapBottle      2.127          1.504          0.695          0              0              0              61
  14  Tomato          1.997          0.983          2.063          0              0              0              53
  15  SaltShaker      -0.119         0.785          0.545          0              270            0              80
  16  PepperShaker    -0.042         0.785          0.713          0              0              0              80
  17  PepperShaker    -0.425         0.785          1.217          0              0              0              80
  18  Lettuce         2.179          1.580          -0.369         0              270            0              74
  19  Lettuce         2.179          1.580          -0.097         0              270            0              74
  20  Apple           0.033          0.840          1.049          0              0              0              80
  21  Apple           -0.272         0.987          2.451          0              0              0              53
  22  Egg             2.000          1.365          -0.188         0              270            0              74
  23  Lettuce         0.277          0.989          2.611          0              60.216         0              53
  24  Fork            1.815          0.746          2.129          0              90             0              68
  25  SoapBottle      1.673          0.938          2.511          0              0              0              53
  26  Ladle           0.637          0.125          2.523          0              0              0              60
  27  Ladle           -0.425         0.835          1.049          0              270            0              80
  28  Bread           -0.199         0.823          0.813          0              0              0              80
  29  SaltShaker      1.156          0.076          2.484          0              0              0              59
  30  Potato          -0.119         0.831          1.049          0              0              0              80
  31  Pan             2.140          0.935          1.106          0              0              0              55
  32  WineBottle      -0.119         0.791          1.386          0              0              0              80
  33  Spatula         1.989          0.761          1.922          0              90             0              68
  34  Knife           1.976          0.772          0.446          0              90             0              62
  35  Tomato          0.034          0.983          2.425          0              0              0              53
  36  Apple           1.945          1.371          -0.460         0              270            0              74
  37  ButterKnife     -0.349         0.791          1.049          0              0              0              80
  38  Pot             2.140          0.935          1.504          0              180            0              48
  39  PepperShaker    -0.042         0.785          0.545          0              0              0              80
  40  Cup             2.207          0.600          -0.007         0              270            0              74
  41  DishSponge      2.167          1.948          1.611          0              0              0              58
  42  Plate           1.925          0.086          1.986          0              0              0              49
  43  Spoon           0.002          0.747          2.129          0              0              0              52
  44  Mug             2.064          0.989          2.462          0              225            0              79
  45  Bowl            2.096          0.335          -0.007         0              270            0              74
  46  Cabinet         2.041          2.113          2.618          0              0              0
  47  Cabinet         0.126          0.388          1.774          0              0              0
  48  StoveBurner     2.140          0.929          1.504          0              180            0
  49  Cabinet         1.760          0.388          2.346          0              0              0
  50  Cabinet         1.760          0.388          0.869          0              0              0
  51  Cabinet         2.041          1.810          0.283          0              0              0
  52  Drawer          -0.024         0.774          2.061          0              0              0
  53  CounterTop      1.065          0.973          2.666          0              0              0
  54  Cabinet         1.969          2.113          2.618          0              0              0
  55  StoveBurner     2.140          0.929          1.106          0              0              0
  56  Cabinet         2.041          2.113          1.809          0              0              0
  57  StoveBurner     1.866          0.929          1.504          0              180            0
  58  Cabinet         2.041          2.113          1.766          0              0              0
  59  Cabinet         1.514          0.388          2.360          0              0              0
  60  Cabinet         0.351          0.388          2.360          0              0              0
  61  Cabinet         2.041          1.810          0.872          0              0              0
  62  Drawer          2.167          0.774          0.582          0              0              0
  63  Cabinet         2.041          2.113          0.892          0              0              0
  64  CounterTop      2.060          0.973          0.583          0              0              0
  65  Sink            0.935          0.936          2.646          0              0              0
  66  Curtains        0.964          2.061          2.989          0              0              0
  67  StoveBurner     1.863          0.929          1.106          0              0              0
  68  Drawer          1.911          0.774          2.060          0              0              0
  69  StoveKnob       2.326          1.092          1.610          288.013        90             0
  70  StoveKnob       2.326          1.092          1.460          288.013        90             0
  71  StoveKnob       2.326          1.092          1.210          288.013        90             0
  72  StoveKnob       2.326          1.092          1.050          288.013        90             0
  73  Toaster         2.126          0.926          0.572          0              270            0
  74  Fridge          2.104          0.0            -0.279         0              270            0
  75  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  76  LightSwitch     0.354          1.518          -1.031         0              0              0
  77  SinkBasin       0.903          0.784          2.640          0              0              0
  78  Microwave       -0.310         0.926          2.077          0              90             0
  79  CoffeeMachine   2.084          0.927          2.667          0              225            0
  80  DiningTable     -0.153         -0.000         1.073          0              270            0
  81  Faucet          1.175          0.926          2.950          270            90             0
  82  Faucet          0.686          0.926          2.950          270            90             0
  83  Chair           -0.077         0.002          0.196          0              15.000         0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: turn around to face the long white table | STEP 2: pick up the silver butter knife that is to the right of the loaf of bread | STEP 3: move to the left slightly to be in front of the loaf of bread that is on the table | STEP 4: cut the loaf of bread in to slices with the knife | STEP 5: move back slightly from the table | STEP 6: put the knife on the table in front of the right side of the loaf of bread | STEP 7: move closes to the table | STEP 8: pick up a slice of bread from the table | STEP 9: turn to the right and move forward to the microwave on the left, turn to face the microwave | STEP 10: open the microwave door, put the slice of bread in to the microwave, close the door, turn the microwave on for 7 seconds, open the door, remove the bread and close the door | STEP 11: turn to the left and move forward to the white table on the right, turn to the right to face the table | STEP 12: put the slice of bread on to the table on the left front corner on top of the sharp knife with the yellow handle | END