Task: To heat a slice of bread as well as place it on the edge 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           0.900          2.0            0              270            0
   1  Potato          -1.185         0.943          1.555          0              90             0              89
   2  Potato          -0.657         0.943          1.040          0              90             0              89
   3  DishSponge      0.737          0.692          2.235          0              0              0              42
   4  ButterKnife     -0.524         0.900          1.349          0              90             0              89
   5  ButterKnife     -0.789         0.900          1.555          0              180            0              89
   6  Fork            0.838          0.692          2.496          0              90             0              45
   7  Plate           -1.393         0.131          3.674          0              0              0              68
   8  Knife           -2.923         0.846          3.479          0              90             0              71
   9  Knife           1.099          0.846          2.458          0              90             0              53
  10  SoapBottle      0.742          0.125          0.942          0              0              0              50
  11  SoapBottle      0.781          0.125          2.572          0              0              0              55
  12  Tomato          -0.657         0.969          1.246          0              90             0              89
  13  Tomato          -2.635         0.891          3.331          0              0              0              71
  14  Bowl            -2.504         1.847          2.294          0              0              0              58
  15  PepperShaker    -2.851         0.819          3.628          0              0              0              71
  16  PepperShaker    1.099          0.819          0.850          0              0              0              48
  17  SaltShaker      -0.524         0.896          1.555          0              90             0              89
  18  SaltShaker      -1.317         0.896          1.452          0              90             0              89
  19  Lettuce         -2.519         0.843          2.221          0              90             0              80
  20  Plate           -1.697         1.687          3.897          0              0              0              43
  21  Fork            0.875          0.823          0.984          0              0              0              48
  22  Bread           0.827          0.861          2.449          0              0              0              48
  23  Spatula         -2.374         0.838          3.724          0              0              0              71
  24  PaperTowelRoll  -0.921         1.004          1.246          0              90             0              89
  25  Potato          -1.694         1.402          3.868          0              180            0              77
  26  SoapBottle      0.960          0.023          2.918          0              0              0              82
  27  Egg             -2.519         0.803          2.333          0              90             0              80
  28  Cup             -2.779         0.822          3.331          0              0              0              71
  29  Pot             0.913          0.850          1.375          0              0              0              47
  30  SaltShaker      -1.053         0.896          1.349          0              90             0              89
  31  Pan             -2.667         0.812          3.74           0              137.145        0              71
  32  PepperShaker    -0.524         0.896          1.452          0              90             0              89
  33  ButterKnife     -2.172         0.812          3.552          0              0              0              71
  34  Tomato          -0.913         0.962          1.484          0              0              0              89
  35  DishSponge      -2.115         0.698          3.632          0              0              0              60
  36  Lettuce         -1.317         0.976          1.040          0              90             0              89
  37  Spoon           -0.657         0.901          1.452          0              0              0              89
  38  Apple           -1.317         0.961          1.349          0              90             0              89
  39  Knife           0.650          0.846          0.939          0              90             0              48
  40  Mug             -2.752         1.185          2.109          0              90             0              80
  41  Bowl            -2.461         0.993          2.389          0              270            0              80
  42  Drawer          0.729          0.703          2.199          0              0              0
  43  Cabinet         -1.962         1.926          3.733          0              0              0
  44  Cabinet         -2.377         2.014          1.058          0              0              0
  45  Drawer          0.729          0.703          2.532          0              0              0
  46  Cabinet         -2.622         1.925          3.733          0              0              0
  47  StoveBurner     0.913          0.843          1.375          0              0              0
  48  CounterTop      0.864          0.858          0.984          0              0              0
  49  Cabinet         -1.976         1.779          3.734          0              0              0
  50  Cabinet         0.580          0.385          0.819          0              0              0
  51  Cabinet         -2.379         1.408          1.677          0              0              0
  52  Cabinet         -0.419         1.703          3.736          0              0              0
  53  CounterTop      0.864          0.858          2.371          0              0              0
  54  Sink            -1.702         0.726          3.828          0              180            0
  55  Cabinet         0.580          0.385          2.694          0              0              0
  56  Cabinet         -2.379         0.637          1.677          0              0              0
  57  Cabinet         -0.419         0.674          3.736          0              0              0
  58  Cabinet         -2.377         2.014          2.558          0              0              0
  59  Drawer          0.729          0.703          0.980          0              0              0
  60  Drawer          -2.114         0.706          3.657          0              0              0
  61  Cabinet         -2.377         1.691          2.572          0              0              0
  62  Cabinet         -2.951         1.925          3.733          0              0              0
  63  Cabinet         0.580          0.385          2.360          0              0              0
  64  Cabinet         -2.426         0.435          3.421          0              0              0
  65  StoveBurner     0.642          0.843          1.375          0              0              0
  66  Cabinet         -2.377         1.927          1.686          0              0              0
  67  Cabinet         -2.377         2.013          3.177          0              0              0
  68  Cabinet         -1.136         0.385          3.516          0              0              0
  69  StoveBurner     0.913          0.843          1.768          0              0              0
  70  Cabinet         -1.974         0.385          3.516          0              0              0
  71  CounterTop      -2.081         0.858          3.799          0              0              0
  72  Cabinet         -2.426         0.435          3.174          0              0              0
  73  Cabinet         -2.377         2.014          1.693          0              0              0
  74  Cabinet         -1.986         0.385          3.511          0              0              0
  75  StoveBurner     0.642          0.843          1.768          0              0              0
  76  Cabinet         -1.098         1.926          3.729          0              0              0
  77  Microwave       -1.529         1.250          3.881          1.622          180            0
  78  CoffeeMachine   1.000          0.812          2.492          0              270            0
  79  LightSwitch     0.825          1.396          4.082          0              180            0
  80  Fridge          -2.642         0.0            2.134          0              180            0
  81  Window          -1.131         1.673          0.808          90             0              0
  82  GarbageCan      0.931          -0.000         2.918          0              0              0
  83  SinkBasin       -1.601         0.686          3.774          0              0              0
  84  StoveKnob       1.104          1.002          1.886          0              0              70.346
  85  StoveKnob       1.104          1.002          1.733          0              0              70.346
  86  StoveKnob       1.104          1.002          1.321          0              0              70.346
  87  StoveKnob       1.104          1.002          1.481          0              0              70.346
  88  Toaster         -2.247         0.812          3.862          0              180            0
  89  DiningTable     -0.917         -0.000         1.203          0              0              0
  90  Stool           -0.932         0.000          1.404          1.196          21.715         0
  91  Faucet          -1.842         0.809          3.984          0              180            0
  92  Faucet          -1.371         0.809          3.985          0              180            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn around and step forward to face the counter to the right of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left to face the bread on the counter. | STEP 4: Cut the bread on the counter into slices. | STEP 5: Turn around and walk forward and turn right to face the sink. | STEP 6: Place the knife on the edge of the sink. | STEP 7: Turn right and cross the room to face the bread on the counter. | STEP 8: Pick up a slice of bread on the counter. | STEP 9: Turn around and walk forward and turn right to face the microwave. | STEP 10: Heat the slice of bread in the microwave and remove it. | STEP 11: Step back to face the sink. | STEP 12: Place the bread on the edge of the sink. | END