Task: put a heated slice of bread on to the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          2.25           0              180            0
   1  Spoon           0.736          0.693          2.496          0              90             0              36
   2  Spoon           0.737          0.693          2.235          0              0              0              33
   3  Cup             -2.147         0.127          3.673          0              0              0              65
   4  Cup             -1.193         0.127          3.597          0              0              0              59
   5  SoapBottle      -2.463         1.398          3.936          0              0              0              37
   6  SaltShaker      -2.578         1.395          3.897          0              0              0              37
   7  SaltShaker      -2.541         1.845          1.599          0              0              0              57
   8  Mug             -1.694         1.354          3.836          0              180            0              68
   9  Apple           0.950          0.884          2.631          0              0              0              44
  10  Apple           -1.538         1.420          3.967          0              180            0              68
  11  Plate           0.860          0.812          0.976          0              0              0              39
  12  Fork            0.839          0.691          0.944          0              90             0              50
  13  Bread           0.827          0.861          2.449          0              0              0              39
  14  Spatula         0.950          0.838          0.984          0              180            0              39
  15  PaperTowelRoll  0.950          0.927          2.198          0              0              0              44
  16  Potato          0.650          0.866          1.072          0              0              0              39
  17  SoapBottle      -2.502         1.633          2.722          0              0              0              52
  18  Egg             1.024          0.859          2.285          0              0              0              44
  19  Cup             -2.619         1.634          2.651          0              0              0              52
  20  Pot             0.642          0.850          1.768          0              0              0              66
  21  SaltShaker      1.099          0.819          2.458          0              0              0              44
  22  Pan             -2.667         0.812          3.74           0              137.145        0              62
  23  PepperShaker    -2.463         1.630          2.651          0              0              0              52
  24  ButterKnife     -1.819         0.823          3.535          0              0              0              62
  25  Tomato          -0.913         0.962          1.484          0              0              0              80
  26  DishSponge      0.737          0.690          0.944          0              0              0              50
  27  Lettuce         -0.580         0.956          1.358          31.822         0              0              80
  28  Spoon           -2.199         0.699          3.665          0              90             0              51
  29  Apple           0.931          0.085          2.918          0              0              0              73
  30  Knife           -2.291         0.819          3.615          90             0              0              62
  31  Mug             -2.465         1.844          2.398          0              0              0              71
  32  Bowl            0.743          0.124          2.159          0              0              0              54
  33  Drawer          0.729          0.703          2.199          0              0              0
  34  Cabinet         -1.962         1.926          3.733          0              0              0
  35  Cabinet         -2.377         2.014          1.058          0              0              0
  36  Drawer          0.729          0.703          2.532          0              0              0
  37  Cabinet         -2.622         1.925          3.733          0              0              0
  38  StoveBurner     0.913          0.843          1.375          0              0              0
  39  CounterTop      0.864          0.858          0.984          0              0              0
  40  Cabinet         -1.976         1.779          3.734          0              0              0
  41  Cabinet         0.580          0.385          0.819          0              0              0
  42  Cabinet         -2.379         1.408          1.677          0              0              0
  43  Cabinet         -0.419         1.703          3.736          0              0              0
  44  CounterTop      0.864          0.858          2.371          0              0              0
  45  Sink            -1.702         0.726          3.828          0              180            0
  46  Cabinet         0.580          0.385          2.694          0              0              0
  47  Cabinet         -2.379         0.637          1.677          0              0              0
  48  Cabinet         -0.419         0.674          3.736          0              0              0
  49  Cabinet         -2.377         2.014          2.558          0              0              0
  50  Drawer          0.729          0.703          0.980          0              0              0
  51  Drawer          -2.114         0.706          3.657          0              0              0
  52  Cabinet         -2.377         1.691          2.572          0              0              0
  53  Cabinet         -2.951         1.925          3.733          0              0              0
  54  Cabinet         0.580          0.385          2.360          0              0              0
  55  Cabinet         -2.426         0.435          3.421          0              0              0
  56  StoveBurner     0.642          0.843          1.375          0              0              0
  57  Cabinet         -2.377         1.927          1.686          0              0              0
  58  Cabinet         -2.377         2.013          3.177          0              0              0
  59  Cabinet         -1.136         0.385          3.516          0              0              0
  60  StoveBurner     0.913          0.843          1.768          0              0              0
  61  Cabinet         -1.974         0.385          3.516          0              0              0
  62  CounterTop      -2.081         0.858          3.799          0              0              0
  63  Cabinet         -2.426         0.435          3.174          0              0              0
  64  Cabinet         -2.377         2.014          1.693          0              0              0
  65  Cabinet         -1.986         0.385          3.511          0              0              0
  66  StoveBurner     0.642          0.843          1.768          0              0              0
  67  Cabinet         -1.098         1.926          3.729          0              0              0
  68  Microwave       -1.529         1.250          3.881          1.622          180            0
  69  CoffeeMachine   1.000          0.812          2.492          0              270            0
  70  LightSwitch     0.825          1.396          4.082          0              180            0
  71  Fridge          -2.642         0.0            2.134          0              180            0
  72  Window          -1.131         1.673          0.808          90             0              0
  73  GarbageCan      0.931          -0.000         2.918          0              0              0
  74  SinkBasin       -1.601         0.686          3.774          0              0              0
  75  StoveKnob       1.104          1.002          1.886          0              0              70.346
  76  StoveKnob       1.104          1.002          1.733          0              0              70.346
  77  StoveKnob       1.104          1.002          1.321          0              0              70.346
  78  StoveKnob       1.104          1.002          1.481          0              0              70.346
  79  Toaster         -2.247         0.812          3.862          0              180            0
  80  DiningTable     -0.917         -0.000         1.203          0              0              0
  81  Stool           -0.932         0.000          1.404          1.196          21.715         0
  82  Faucet          -1.842         0.809          3.984          0              180            0
  83  Faucet          -1.371         0.809          3.985          0              180            0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: turn around and move forward to the sink | STEP 2: pick up the sharp knife with yellow handle that is sitting in front of the toaster | STEP 3: turn to the right and move to the counter that is to the left of the stove | STEP 4: cut the loaf of bread that is on the counter with the knife | STEP 5: move closer to the counter | STEP 6: stick the knife in to the loaf of bread on the counter | STEP 7: back up slightly from the counter | STEP 8: remove one slice of bread from the loaf on the counter | STEP 9: turn around, move forward to the fridge | STEP 10: open the fridge door, put the slice of bread in to the fridge on the second shelf from the top, close the door, chill for 7 seconds, open the door, remove the slice and close the door | STEP 11: turn around and move to the white table that is on the right side, turn right to face the table | STEP 12: put the slice of bread on to the table to the right of the tomato | END