Task: Place a heated slice of bread perpendicular to a knife on the counter to the left 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           -0.5           0.869          -3.5           0              180            0
   1  DishSponge      0.787          0.015          -0.250         0              0              0              48
   2  ButterKnife     -0.453         0.900          0.843          0              270            0              64
   3  Spatula         0.672          0.787          -0.845         0              180            0              61
   4  Spatula         0.623          0.774          -0.252         0              90             0              37
   5  Fork            0.715          0.773          -0.625         0              90             0              61
   6  Fork            0.866          0.760          0.002          0              270            0              37
   7  Egg             0.841          0.809          -0.680         0              270            0              61
   8  Egg             0.721          0.702          0.630          0              0              0              43
   9  SoapBottle      0.842          0.014          -0.053         0              0              0              48
  10  SoapBottle      -1.578         0.699          -3.614         0              0              0              65
  11  PepperShaker    0.903          1.460          0.349          0              0              0              50
  12  Bread           0.149          0.944          1.015          0              270            0              64
  13  Lettuce         0.661          0.752          0.326          0              0              0              43
  14  Lettuce         0.785          0.751          -1.958         0              270            0              58
  15  Mug             0.708          1.153          -1.802         0              270            0              58
  16  Pot             -2.071         0.927          0.772          0              266.284        0              40
  17  Plate           -2.023         0.692          -1.447         0              0              0              74
  18  Fork            0.961          0.665          0.326          0              90             0              43
  19  SoapBottle      -1.578         0.695          -3.782         0              0              0              65
  20  Apple           0.950          0.937          -0.245         0              0              0              38
  21  Pan             -1.552         0.930          0.785          0              0              0              42
  22  Egg             -1.056         0.937          1.187          0              270            0              64
  23  Spatula         0.781          0.680          0.387          0              90             0              43
  24  Potato          -1.297         0.085          -3.611         0              270            0              53
  25  Cup             0.746          1.373          -2.190         0              270            0              58
  26  SaltShaker      -1.556         0.692          -3.276         0              0              0              65
  27  PepperShaker    -1.578         0.696          -3.361         0              0              0              65
  28  ButterKnife     0.754          0.755          -0.743         0              45             0              61
  29  DishSponge      0.812          1.463          0.534          0              0              0              50
  30  Bread           -0.873         0.931          0.978          0              24.231         0              64
  31  Lettuce         0.901          0.752          0.569          0              0              0              43
  32  Tomato          -0.051         0.949          1.187          0              270            0              64
  33  Spoon           0.841          0.666          0.387          0              0              0              43
  34  Knife           1.070          0.906          -0.762         0              90             0              38
  35  Mug             -1.578         0.695          -3.445         0              0              0              65
  36  Bowl            0.676          0.014          -0.637         0              0              0              41
  37  Drawer          0.706          0.766          -0.125         0              0              0
  38  CounterTop      0.792          0.919          -0.108         0              0              0
  39  Mirror          1.093          1.602          -0.643         0              0              0
  40  StoveBurner     -2.096         0.890          0.785          0              0              0
  41  Cabinet         0.507          0.345          -0.426         0              0              0
  42  StoveBurner     -1.552         0.890          0.785          0              0              0
  43  SideTable       0.770          -0.030         0.443          0              0              0
  44  Sink            0.753          0.882          -0.680         0              0              0
  45  StoveBurner     -2.096         0.890          1.049          0              0              0
  46  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  47  StoveBurner     -1.554         0.890          1.049          0              0              0
  48  Cabinet         0.507          0.345          0.156          0              0              0
  49  Cabinet         0.717          1.822          -0.398         0              0              0
  50  Cabinet         0.717          1.822          0.669          0              0              0
  51  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  52  Toaster         -0.522         0.886          1.081          0              180            0
  53  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  54  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  55  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  56  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  58  Fridge          0.680          -0.031         -1.957         0              0              0
  59  Window          -2.424         1.639          -2.453         90             270            0
  60  Microwave       -1.994         0.690          -3.651         0              0              0
  61  SinkBasin       0.757          0.762          -0.688         0              270            0
  62  LightSwitch     1.102          1.368          -3.737         0              270            0
  63  Shelf           -0.350         0.124          0.857          0              0              0
  64  DiningTable     -0.350         -0.025         0.857          0              0              0
  65  DiningTable     -1.909         -0.032         -3.507         0              0              0
  66  Blinds          -2.343         2.151          -2.437         0              270            0
  67  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  68  AluminumFoil    0.751          0.225          0.287          0              0              0
  69  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  70  Shelf           0.771          0.226          0.445          0              0              0
  71  Shelf           0.771          0.456          0.446          0              0              0
  72  Faucet          1.025          0.873          -0.678         270            180            0
  73  Shelf           -0.350         0.497          0.857          0              0              0
  74  DiningTable     -1.929         -0.035         -1.398         0              90             0
  75  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn around and walk to the sink. | STEP 2: Pick up the knife on the counter behind the faucet. | STEP 3: Turn left and walk to the white table. | STEP 4: Slice the loaf of bread on the table that is to the right of the tomato. | STEP 5: Turn around and walk back to the counter to the left of the sink. | STEP 6: Place the knife horizontally on the counter to the left of the sink, in front of the yellow apple. | STEP 7: Turn left and walk back to the table with the loaf of bread on it. | STEP 8: Take the second slice of bread from the right. | STEP 9: Turn around and take the slice of bread to the microwave. | STEP 10: Open the microwave door, place the slice of bread on the plate inside, then close the door. Set the timer for 2 seconds; once done heating, remove the slice of bread from the microwave. | STEP 11: Turn around and walk to the counter to the left of the sink. | STEP 12: Place the slice of bread standing on its edge perpendicular to the center of the knife on the counter. | END