Task: put a warm piece of bread in front of the sink

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           0.900          2.5            0              180            0
   1  Potato          -1.317         0.943          1.143          0              90             0              90
   2  ButterKnife     -2.707         0.823          3.405          0              0              0              72
   3  Pot             0.642          0.850          1.768          0              0              0              76
   4  Spatula         0.950          0.838          2.631          0              180            0              54
   5  Spatula         0.650          0.838          2.458          0              90             0              54
   6  Spoon           1.025          0.812          2.458          0              0              0              46
   7  Fork            0.805          0.692          2.235          0              270            0              43
   8  Fork            -0.789         0.901          1.246          0              90             0              90
   9  Egg             -1.053         0.936          1.555          0              90             0              90
  10  Egg             -1.317         0.936          1.040          0              90             0              90
  11  Plate           -2.786         1.402          3.897          0              0              0              63
  12  Cup             -2.461         0.766          2.109          0              90             0              81
  13  SoapBottle      -1.185         0.900          1.349          0              90             0              90
  14  Bowl            -2.581         1.847          2.242          0              0              0              59
  15  Bowl            -2.461         0.993          2.165          0              270            0              81
  16  SaltShaker      -0.524         0.896          1.143          0              90             0              90
  17  Lettuce         -1.317         0.976          1.452          0              90             0              90
  18  Mug             -1.109         0.940          1.203          0              0              0              90
  19  Apple           -0.657         0.961          1.555          0              90             0              90
  20  Apple           -2.461         1.252          2.389          0              90             0              81
  21  Plate           0.860          0.812          0.976          0              0              0              49
  22  Fork            1.099          0.823          2.285          0              90             0              54
  23  Bread           0.828          0.861          2.449          0              0              0              49
  24  Spatula         1.024          0.838          1.072          0              270            0              49
  25  PaperTowelRoll  1.099          0.927          0.984          0              0              0              49
  26  Potato          0.650          0.866          1.028          0              0              0              49
  27  SoapBottle      -2.147         0.126          3.711          0              0              0              75
  28  Egg             -1.309         0.733          3.691          0              0              0              84
  29  Cup             0.950          0.822          2.285          0              0              0              54
  30  Pot             0.913          0.850          1.375          0              0              0              48
  31  SaltShaker      0.725          0.819          2.631          0              0              0              54
  32  Pan             -2.667         0.812          3.74           0              137.145        0              72
  33  PepperShaker    -1.185         0.896          1.555          0              90             0              90
  34  ButterKnife     -2.172         0.812          3.552          0              0              0              72
  35  Tomato          -2.694         1.259          2.221          0              90             0              81
  36  DishSponge      0.650          0.822          0.895          0              0              0              49
  37  Lettuce         -0.580         0.956          1.358          31.822         0              0              90
  38  Spoon           -2.199         0.699          3.665          0              90             0              61
  39  Apple           0.650          0.884          2.285          0              0              0              54
  40  Knife           -1.819         0.846          3.535          0              0              0              72
  41  Mug             -2.519         0.762          2.333          0              90             0              81
  42  Bowl            -1.645         1.681          3.936          0              0              0              44
  43  Drawer          0.729          0.703          2.199          0              0              0
  44  Cabinet         -1.962         1.926          3.733          0              0              0
  45  Cabinet         -2.377         2.014          1.058          0              0              0
  46  Drawer          0.729          0.703          2.532          0              0              0
  47  Cabinet         -2.622         1.925          3.733          0              0              0
  48  StoveBurner     0.913          0.843          1.375          0              0              0
  49  CounterTop      0.864          0.858          0.984          0              0              0
  50  Cabinet         -1.976         1.779          3.734          0              0              0
  51  Cabinet         0.580          0.385          0.819          0              0              0
  52  Cabinet         -2.379         1.408          1.677          0              0              0
  53  Cabinet         -0.419         1.703          3.736          0              0              0
  54  CounterTop      0.864          0.858          2.371          0              0              0
  55  Sink            -1.702         0.726          3.828          0              180            0
  56  Cabinet         0.580          0.385          2.694          0              0              0
  57  Cabinet         -2.379         0.637          1.677          0              0              0
  58  Cabinet         -0.419         0.674          3.736          0              0              0
  59  Cabinet         -2.377         2.014          2.558          0              0              0
  60  Drawer          0.729          0.703          0.980          0              0              0
  61  Drawer          -2.114         0.706          3.657          0              0              0
  62  Cabinet         -2.377         1.691          2.572          0              0              0
  63  Cabinet         -2.951         1.925          3.733          0              0              0
  64  Cabinet         0.580          0.385          2.360          0              0              0
  65  Cabinet         -2.426         0.435          3.421          0              0              0
  66  StoveBurner     0.642          0.843          1.375          0              0              0
  67  Cabinet         -2.377         1.927          1.686          0              0              0
  68  Cabinet         -2.377         2.013          3.177          0              0              0
  69  Cabinet         -1.136         0.385          3.516          0              0              0
  70  StoveBurner     0.913          0.843          1.768          0              0              0
  71  Cabinet         -1.974         0.385          3.516          0              0              0
  72  CounterTop      -2.081         0.858          3.799          0              0              0
  73  Cabinet         -2.426         0.435          3.174          0              0              0
  74  Cabinet         -2.377         2.014          1.693          0              0              0
  75  Cabinet         -1.986         0.385          3.511          0              0              0
  76  StoveBurner     0.642          0.843          1.768          0              0              0
  77  Cabinet         -1.098         1.926          3.729          0              0              0
  78  Microwave       -1.529         1.250          3.881          1.622          180            0
  79  CoffeeMachine   1.000          0.812          2.492          0              270            0
  80  LightSwitch     0.825          1.396          4.082          0              180            0
  81  Fridge          -2.642         0.0            2.134          0              180            0
  82  Window          -1.131         1.673          0.808          90             0              0
  83  GarbageCan      0.931          -0.000         2.918          0              0              0
  84  SinkBasin       -1.601         0.686          3.774          0              0              0
  85  StoveKnob       1.104          1.002          1.886          0              0              70.346
  86  StoveKnob       1.104          1.002          1.733          0              0              70.346
  87  StoveKnob       1.104          1.002          1.321          0              0              70.346
  88  StoveKnob       1.104          1.002          1.481          0              0              70.346
  89  Toaster         -2.247         0.812          3.862          0              180            0
  90  DiningTable     -0.917         -0.000         1.203          0              0              0
  91  Stool           -0.932         0.000          1.404          1.196          21.715         0
  92  Faucet          -1.842         0.809          3.984          0              180            0
  93  Faucet          -1.371         0.809          3.985          0              180            0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: turn around, walk to the sink | STEP 2: pick up the knife that is in front of the sink | STEP 3: turn around, walk forward, turn left, walk forward to counter | STEP 4: slice the bread that is on the counter | STEP 5: move the knife towards the bread | STEP 6: put the knife in the bread | STEP 7: slice the bread | STEP 8: pick up a slice of bread that is on the counter | STEP 9: turn around, walk forward, turn right, walk to sink | STEP 10: put the bread in the microwave, turn it on, take bread out when it turns off | STEP 11: take two steps to the left | STEP 12: put the slice of bread in front of the sink | END