Task: Place a heated slice of bread in a container.

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          3.5            0              0              0
   1  Potato          1.230          1.068          -1.560         0              180            0              56
   2  Ladle           2.790          1.066          -1.456         0              0              0              56
   3  Ladle           2.578          1.066          0.907          0              136.999        0              56
   4  ButterKnife     2.705          0.800          -0.699         0              0              0              56
   5  ButterKnife     1.926          0.764          3.821          0              270            0              57
   6  WineBottle      -0.454         0.050          0.786          0              0              0              89
   7  Glassbottle     -0.987         0.786          -0.738         0              90             0              100
   8  Glassbottle     2.607          1.781          -1.911         0              0              0              95
   9  Pot             1.836          1.027          -1.84          0              90             0              54
  10  Pot             2.116          1.027          -1.84          0              270            0              60
  11  Spatula         2.875          1.041          -0.541         0              90             0              56
  12  Fork            -0.669         1.028          1.943          0              0              0              59
  13  Fork            -0.661         0.802          0.777          0              0              0              58
  14  Egg             1.350          1.070          -1.881         0              90             0              56
  15  Egg             2.061          0.808          3.580          0              225            0              57
  16  Cup             2.302          0.763          4.495          0              0              0              57
  17  Plate           -1.013         1.442          -0.738         0              90             0              100
  18  Tomato          -0.916         0.130          2.842          0              0              0              111
  19  Tomato          -0.577         0.870          1.414          0              90             0              113
  20  SoapBottle      -1.045         1.026          1.943          0              0              0              59
  21  Bowl            2.706          1.025          -0.541         0              0              0              56
  22  PepperShaker    1.297          0.787          -1.546         0              0              0              56
  23  Bread           2.790          0.832          3.529          0              329.999        0              57
  24  Bread           2.599          0.832          3.97           0              0              0              57
  25  Lettuce         2.625          0.822          4.192          0              270            0              57
  26  Apple           -0.645         0.866          1.181          0              90             0              113
  27  Apple           -0.851         0.866          1.337          0              90             0              113
  28  Pan             2.042          1.017          1.779          0              0              0              56
  29  Glassbottle     2.706          1.027          0.068          0              0              0              56
  30  Knife           -0.669         1.052          2.189          0              0              0              59
  31  SoapBottle      2.673          0.763          4.32           0              0              0              57
  32  Egg             -0.851         0.860          1.103          0              90             0              113
  33  Fork            2.475          1.027          1.648          0              136.999        0              56
  34  Potato          -0.947         0.828          -0.184         0              90             0              100
  35  Ladle           2.451          0.803          3.97           0              90             0              57
  36  Tomato          1.350          1.080          -1.560         0              90             0              56
  37  Pot             1.925          0.767          3.969          0              270            0              57
  38  WineBottle      2.790          1.027          -1.151         0              0              0              56
  39  Plate           2.370          1.027          1.550          0              136.999        0              56
  40  Spatula         2.537          0.814          -0.792         0              90             0              56
  41  PaperTowelRoll  2.959          1.131          -1.456         0              180            0              56
  42  Lettuce         2.597          0.822          3.418          0              329.999        0              57
  43  Apple           2.525          0.814          4.495          0              0              0              57
  44  SaltShaker      2.874          0.796          -0.607         0              0              0              65
  45  PepperShaker    2.800          0.760          4.192          0              270            0              57
  46  ButterKnife     -0.714         0.816          1.492          0              90             0              113
  47  Bread           -0.968         1.510          -0.295         0              90             0              100
  48  Cup             -0.418         1.026          0.600          0              0              0              59
  49  DishSponge      -0.803         0.045          1.954          0              0              0              61
  50  Bowl            2.321          0.762          3.840          0              225            0              57
  51  Spoon           -1.171         1.028          2.556          0              0              0              59
  52  Mug             -0.803         1.070          0.646          0              90             0              109
  53  Sink            -0.716         1.023          1.333          0              0              0
  54  StoveBurner     1.835          1.018          -1.840         0              90             0
  55  StoveBurner     2.177          1.018          -1.599         0              0              0
  56  CounterTop      2.812          0.992          0.675          0              0              0
  57  DiningTable     2.419          0.003          3.930          0              0              0
  58  Drawer          -0.643         0.828          0.616          0              0              0
  59  CounterTop      -0.813         1.062          2.188          0              0              0
  60  StoveBurner     2.115          1.018          -1.840         0              270            0
  61  Drawer          -0.643         0.831          1.953          0              0              0
  62  Drawer          -0.643         0.833          2.418          0              0              0
  63  Drawer          1.347          0.836          -1.539         0              0              0
  64  Drawer          2.693          0.833          -1.131         0              0              0
  65  Drawer          2.693          0.833          -0.699         0              0              0
  66  Drawer          2.693          0.833          -0.267         0              0              0
  67  Drawer          2.693          0.833          0.163          0              0              0
  68  Drawer          2.524          0.833          0.720          0              2.000          0
  69  Drawer          2.232          0.833          1.036          0              2.000          0
  70  Drawer          1.936          0.833          1.354          0              2.000          0
  71  Drawer          1.646          0.833          1.670          0              2.000          0
  72  Cabinet         1.504          2.475          -1.710         0              0              0
  73  Cabinet         -0.823         2.220          1.621          0              0              0
  74  Cabinet         -0.823         2.220          0.615          0              0              0
  75  Cabinet         1.136          0.388          -1.355         0              0              0
  76  Cabinet         -0.356         0.383          2.626          0              0              0
  77  Cabinet         2.745          2.220          -1.690         0              0              0
  78  Cabinet         1.882          0.383          1.017          0              0              0
  79  Cabinet         1.307          0.473          1.640          0              0              0
  80  Cabinet         1.892          0.383          1.006          0              0              0
  81  Cabinet         2.467          0.383          0.383          0              0              0
  82  Cabinet         2.466          0.383          -0.475         0              0              0
  83  Cabinet         2.466          0.473          0.371          0              0              0
  84  Cabinet         2.386          2.475          -1.710         0              0              0
  85  Cabinet         -0.356         0.383          1.712          0              0              0
  86  Cabinet         2.745          2.220          0.019          0              0              0
  87  Cabinet         -0.663         2.496          0.157          0              0              0
  88  Cabinet         -0.663         2.496          -0.868         0              0              0
  89  Cabinet         -0.356         0.383          0.269          0              0              0
  90  Cabinet         -0.823         2.220          1.603          0              0              0
  91  Cabinet         -0.662         2.234          0.586          0              0              0
  92  Cabinet         2.745          2.220          -0.843         0              0              0
  93  Cabinet         2.745          2.220          -0.827         0              0              0
  94  Cabinet         -0.823         2.220          2.608          0              0              0
  95  Cabinet         2.732          2.226          -1.709         0              0              0
  96  Cabinet         1.137          2.226          -1.709         0              0              0
  97  Cabinet         2.466          0.383          -0.491         0              0              0
  98  Cabinet         2.466          0.383          -1.339         0              0              0
  99  StoveBurner     1.761          1.018          -1.599         0              0              0
 100  Fridge          -0.908         0.0            -0.405         0              0              0
 101  HousePlant      2.517          1.016          1.822          0              0              0
 102  Microwave       1.939          1.745          -1.826         0              0              0
 103  StoveKnob       2.017          1.041          -1.514         0              180            180
 104  StoveKnob       1.934          1.041          -1.514         0              180            180
 105  StoveKnob       2.017          1.041          -1.589         0              180            180
 106  StoveKnob       1.934          1.041          -1.589         0              180            180
 107  Window          1.756          1.608          4.762          90             0              0
 108  HousePlant      2.171          1.004          2.091          0              0              0
 109  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 110  LightSwitch     -0.099         1.410          -2.066         0              0              0
 111  GarbageCan      -0.951         -0.029         2.826          0              0              0
 112  Toaster         -1.007         1.018          2.238          0              90             0
 113  SinkBasin       -0.714         0.805          1.348          0              90             0
 114  Chair           1.615          0.004          4.310          0              107.976        0
 115  Faucet          -1.120         1.013          1.334          0              90             0
 116  Chair           2.759          0.004          3.086          0              358.967        0
 117
 118  NorthWall
 119  EastWall
 120  SouthWall
 121  WestWall

Plan:
STEP 1: Turn right, hang a right at the edge of the counter and face the sink on the right. | STEP 2: Pick up the spoon in the sink. | STEP 3: Turn right, hang a right at the edge of the counter and turn left at the wall to face the white table. | STEP 4: Slice the loaf of bread to the right of the spoon on the table. | STEP 5: Place the knife on the head of lettuce to the left of the loaf of bread. | STEP 6: Pick up a slice of bread from the loaf to the right of the spoon. | STEP 7: Turn left, hang a left around the angle of the counter, walk to the counter and walk to the right to reach the stove. | STEP 8: Put the bread inside the microwave above the stove in the middle, heat it for a few seconds, remove it and close the door. | STEP 9: Turn right, head right at the end of the counter, turn left at the white table and turn left to face the gray container on the floor. | STEP 10: Put the bread inside the gray container behind the tomato. | END