Task: Slice bread and heat it.

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              0              0
   1  Potato          0.630          0.805          -0.845         0              90             0              63
   2  Fork            0.817          0.761          0.002          0              270            0              39
   3  Fork            0.901          0.665          0.387          0              0              0              45
   4  Pot             -2.097         0.930          1.049          0              0              0              47
   5  Knife           0.877          0.906          -0.245         0              90             0              40
   6  Knife           0.769          0.782          0.002          0              270            0              39
   7  SoapBottle      0.950          0.882          -0.108         0              0              0              40
   8  SoapBottle      0.787          0.014          -0.184         0              0              0              50
   9  Bowl            -1.719         0.700          -1.307         0              0              0              76
  10  Bowl            0.949          1.462          0.411          0              0              0              52
  11  PepperShaker    1.040          1.460          0.226          0              0              0              52
  12  SaltShaker      0.781          0.660          0.265          0              0              0              45
  13  SaltShaker      0.781          0.660          0.630          0              0              0              45
  14  Mug             0.901          0.659          0.569          0              0              0              45
  15  Mug             0.698          0.941          -1.360         0              270            0              53
  16  Apple           -1.261         0.105          -3.574         0              270            0              55
  17  Apple           0.672          0.826          -0.680         0              270            0              63
  18  Pot             -1.555         0.930          1.049          0              0              0              49
  19  Plate           -2.023         0.692          -1.447         0              0              0              76
  20  Fork            0.671          0.760          0.002          0              270            0              39
  21  SoapBottle      -0.051         0.899          1.101          0              270            0              66
  22  Apple           0.721          0.718          0.448          0              0              0              45
  23  Pan             0.740          -0.007         -0.596         0              0              0              43
  24  Egg             1.025          0.920          -0.460         0              0              0              40
  25  Spatula         0.720          0.775          -0.252         0              90             0              39
  26  Potato          0.669          1.191          -1.880         0              270            0              60
  27  Cup             0.729          0.882          0.029          0              0              0              40
  28  SaltShaker      0.961          0.661          0.387          0              0              0              45
  29  PepperShaker    -1.599         0.696          -3.614         0              0              0              67
  30  ButterKnife     -0.855         0.900          0.929          0              270            0              66
  31  DishSponge      0.661          0.664          0.326          0              0              0              45
  32  Bread           -0.051         0.944          0.843          0              270            0              66
  33  Lettuce         -1.084         0.973          0.955          41.452         1.687          2.953          66
  34  Tomato          0.582          0.931          0.029          0              0              0              40
  35  Spoon           0.655          0.884          -0.176         0              90             0              40
  36  Knife           -0.855         0.923          1.187          0              270            0              66
  37  Mug             0.566          0.010          -0.768         0              90             0              43
  38  Bowl            -2.038         0.691          -1.003         0              0              0              76
  39  Drawer          0.706          0.766          -0.125         0              0              0
  40  CounterTop      0.792          0.919          -0.108         0              0              0
  41  Mirror          1.093          1.602          -0.643         0              0              0
  42  StoveBurner     -2.096         0.890          0.785          0              0              0
  43  Cabinet         0.507          0.345          -0.426         0              0              0
  44  StoveBurner     -1.552         0.890          0.785          0              0              0
  45  SideTable       0.770          -0.030         0.443          0              0              0
  46  Sink            0.753          0.882          -0.680         0              0              0
  47  StoveBurner     -2.096         0.890          1.049          0              0              0
  48  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  49  StoveBurner     -1.554         0.890          1.049          0              0              0
  50  Cabinet         0.507          0.345          0.156          0              0              0
  51  Cabinet         0.717          1.822          -0.398         0              0              0
  52  Cabinet         0.717          1.822          0.669          0              0              0
  53  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  54  Toaster         -0.522         0.886          1.081          0              180            0
  55  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  56  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  58  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  59  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  60  Fridge          0.680          -0.031         -1.957         0              0              0
  61  Window          -2.424         1.639          -2.453         90             270            0
  62  Microwave       -1.994         0.690          -3.651         0              0              0
  63  SinkBasin       0.757          0.762          -0.688         0              270            0
  64  LightSwitch     1.102          1.368          -3.737         0              270            0
  65  Shelf           -0.350         0.124          0.857          0              0              0
  66  DiningTable     -0.350         -0.025         0.857          0              0              0
  67  DiningTable     -1.909         -0.032         -3.507         0              0              0
  68  Blinds          -2.343         2.151          -2.437         0              270            0
  69  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  70  AluminumFoil    0.751          0.225          0.287          0              0              0
  71  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  72  Shelf           0.771          0.226          0.445          0              0              0
  73  Shelf           0.771          0.456          0.446          0              0              0
  74  Faucet          1.025          0.873          -0.678         270            180            0
  75  Shelf           -0.350         0.497          0.857          0              0              0
  76  DiningTable     -1.929         -0.035         -1.398         0              90             0
  77  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn left, go towards the trash can; turn right, go towards the far wall and turn right at the sink counter.  | STEP 2: Pick up knife at the sink counter.  | STEP 3: Turn around and make a right towards the table with the bread.  | STEP 4: Use the knife to slice the bread on the table.  | STEP 5: Turn around and head back towards the sink counter.  | STEP 6: Open the sink counter drawer and place the knife in it.  | STEP 7: Turn around and head back to the table with the bread.  | STEP 8: Pick up a slice of bread.  | STEP 9: Turn around, head towards the trash can and make a right then a left at the microwave oven sitting on a table.  | STEP 10: Place the bread in the microwave and heat it.  | STEP 11: Take the bread out, turn around and head back to the sink counter.  | STEP 12: Place the slice of bread on the sink counter next to the spoon.  | END