Task: Putting sliced bread on the large white 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          1.5            0              180            0
   1  Pan             -0.535         0.928          4.274          0              0              0              53
   2  Spatula         -2.995         0.915          2.045          0              180            0              70
   3  Spatula         -2.628         0.950          3.580          0              90             0              56
   4  Fork            -0.326         0.662          0.464          0              0              0              38
   5  Knife           -2.269         0.688          0.464          0              270            0              57
   6  Knife           -2.485         0.688          0.409          0              90             0              57
   7  Tomato          -2.764         1.250          4.278          0              90             0              66
   8  Bowl            -0.249         1.770          0.251          0              0              0              48
   9  SaltShaker      -1.904         0.924          0.602          0              0              0              49
  10  SaltShaker      -2.549         0.931          3.302          0              0              0              56
  11  PepperShaker    -2.136         1.769          0.342          0              0              0              45
  12  PepperShaker    -2.377         0.658          0.355          0              0              0              57
  13  Bread           -2.480         0.957          2.573          0              0              0              70
  14  Lettuce         -2.785         0.378          4.278          0              90             0              66
  15  Mug             -0.350         1.013          0.203          0              0              0              68
  16  Mug             -2.864         0.930          3.302          0              0              0              56
  17  Egg             -1.094         0.832          0.502          0              0              0              67
  18  Plate           -2.480         0.904          1.913          0              0              0              70
  19  Fork            -2.037         0.928          0.518          0              0              0              49
  20  Bread           -0.228         0.957          2.329          0              0              0              72
  21  Apple           -2.764         1.242          4.501          0              90             0              66
  22  Lettuce         -2.847         0.712          4.352          0              90             0              66
  23  Spatula         -2.995         0.915          2.177          0              90             0              70
  24  Knife           -2.323         0.688          0.464          0              270            0              57
  25  Potato          -2.864         0.961          3.209          0              0              0              56
  26  Tomato          -2.847         0.696          4.501          0              90             0              66
  27  Cup             -0.191         1.018          0.171          0              0              0              68
  28  SaltShaker      -1.248         1.769          0.114          0              0              0              46
  29  PepperShaker    -2.995         0.896          2.045          0              0              0              70
  30  ButterKnife     -2.686         0.900          2.309          0              0              0              70
  31  SoapBottle      -0.572         0.900          2.731          0              0              0              72
  32  Pan             -0.314         0.900          3.133          0              180            0              72
  33  DishSponge      -2.789         0.900          2.441          0              0              0              70
  34  Pot             -0.254         0.928          4.672          0              0              0              51
  35  Spoon           -2.686         0.901          2.045          0              90             0              70
  36  Mug             -2.778         1.001          3.714          0              90             0              69
  37  Bowl            -2.789         0.897          2.045          0              0              0              70
  38  Drawer          -0.325         0.696          0.413          0              0              0
  39  Cabinet         -0.595         0.490          0.648          0              0              0
  40  Cabinet         -0.555         0.490          0.646          0              0              0
  41  Cabinet         -1.591         0.490          0.646          0              0              0
  42  Cabinet         -1.554         0.490          0.646          0              0              0
  43  Cabinet         -2.550         0.490          0.646          0              0              0
  44  Cabinet         -1.514         2.046          0.392          0              0              0
  45  Cabinet         -2.474         2.046          0.392          0              0              0
  46  Cabinet         -1.478         2.046          0.392          0              0              0
  47  Cabinet         -0.518         2.046          0.392          0              0              0
  48  Cabinet         -0.479         2.046          0.392          0              0              0
  49  CounterTop      -1.366         0.952          0.349          0              0              0
  50  Sink            -1.108         0.926          0.340          0              0              0
  51  StoveBurner     -0.254         0.922          4.672          0              0              0
  52  Drawer          -1.824         0.696          0.413          0              0              0
  53  StoveBurner     -0.535         0.922          4.274          0              0              0
  54  StoveBurner     -0.254         0.922          4.274          0              0              0
  55  StoveBurner     -0.536         0.922          4.672          0              0              0
  56  CounterTop      -2.780         0.971          3.487          0              0              0
  57  Drawer          -2.323         0.696          0.413          0              0              0
  58  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  59  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  60  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  62  Toaster         -0.286         0.861          3.520          0              270            0
  63  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  64  LightSwitch     -0.064         1.447          1.996          0              270            0
  65  Window          -3.075         1.593          1.361          90             90             0
  66  Fridge          -2.802         0.0            4.427          0              0              0
  67  SinkBasin       -1.106         0.785          0.337          0              0              0
  68  Microwave       -0.358         0.917          0.224          0              0              0
  69  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  70  DiningTable     -2.733         -0.003         2.607          0              270            0
  71  Faucet          -1.077         0.920          0.028          270            270            0
  72  DiningTable     -0.488         -0.003         3.182          0              270            0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: Turn around and go to the small white table | STEP 2: Grab the knife off of the counter | STEP 3: Move slightly to the right | STEP 4: Cut the loaf of bread on the counter into slices | STEP 5: Put the knife down on the table | STEP 6: Grab a slice of bread | STEP 7: Turn around and go to the microwave | STEP 8: Heat the bread in the microwave and then take it out | STEP 9: Turn around and stop at the large white table | STEP 10: Put the bread on the table | END