Task: slice a loaf of bread heat it up put it on top of a table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          1.0            0              270            0
   1  Potato          2.719          1.068          1.597          0              136.999        0              56
   2  Ladle           1.777          1.066          1.555          0              136.999        0              56
   3  Ladle           1.290          1.066          -1.987         0              90             0              56
   4  ButterKnife     2.875          1.026          -0.541         0              0              0              56
   5  WineBottle      -0.544         1.028          2.066          0              0              0              59
   6  Pot             1.761          1.027          -1.599         0              0              0              99
   7  Spatula         -0.669         1.042          0.508          0              180            0              59
   8  Spatula         -0.577         0.831          1.570          0              0              0              113
   9  Fork            2.790          1.027          -0.846         0              0              0              56
  10  Fork            2.621          1.027          -0.846         0              0              0              56
  11  Plate           -0.669         1.027          2.556          0              0              0              59
  12  Knife           1.230          1.052          -1.774         0              90             0              56
  13  Knife           2.551          0.789          4.240          0              59.999         0              57
  14  Tomato          -1.069         0.839          -0.406         0              90             0              100
  15  SoapBottle      2.790          0.763          3.529          0              329.999        0              57
  16  Bowl            1.469          1.025          -1.454         0              90             0              56
  17  Bowl            2.451          0.762          3.895          0              270            0              57
  18  SaltShaker      -0.590         0.798          0.615          0              0              0              58
  19  SaltShaker      -0.873         0.796          2.061          0              0              0              61
  20  PepperShaker    2.487          0.760          4.203          0              329.999        0              57
  21  PepperShaker    1.707          0.796          1.728          0              317.0          0              71
  22  Bread           2.086          0.832          3.815          0              225            0              57
  23  Lettuce         -1.102         1.085          1.519          0              0              0              59
  24  Lettuce         2.231          1.085          1.699          0              317.0          0              56
  25  Mug             1.895          1.856          -1.910         0              90             0              102
  26  Mug             -0.542         0.043          2.265          0              90             0              76
  27  Apple           -0.360         1.077          1.171          0              0              0              59
  28  Pan             2.116          1.027          -1.84          0              270            0              60
  29  Glassbottle     2.021          1.027          1.503          0              136.999        0              56
  30  Knife           -0.669         1.052          0.877          0              180            0              59
  31  SoapBottle      -0.542         0.046          2.417          0              0              0              111
  32  Egg             -1.013         1.486          -0.295         0              90             0              100
  33  Fork            2.801          0.765          4.044          0              270            0              57
  34  Potato          1.925          0.806          4.192          0              270            0              57
  35  Ladle           1.609          0.839          1.637          0              317.0          0              71
  36  Tomato          -0.577         0.870          1.181          0              90             0              113
  37  Pot             2.177          1.027          -1.599         0              0              0              55
  38  WineBottle      2.790          1.027          -0.236         0              0              0              56
  39  Plate           -0.418         1.027          0.692          0              0              0              59
  40  Spatula         -0.645         0.831          1.414          0              270            0              113
  41  PaperTowelRoll  2.475          1.131          1.648          0              136.999        0              56
  42  Lettuce         -0.987         0.844          -0.184         0              90             0              100
  43  Apple           -0.645         0.866          1.492          0              90             0              113
  44  SaltShaker      -0.946         1.777          1.975          0              0              0              73
  45  PepperShaker    -1.059         1.776          2.369          0              0              0              94
  46  ButterKnife     2.599          0.764          3.97           0              0              0              57
  47  Bread           2.525          0.832          3.445          0              0              0              57
  48  Cup             2.191          0.763          3.710          0              225            0              57
  49  DishSponge      2.698          0.764          3.688          0              329.999        0              57
  50  Bowl            -0.782         0.814          1.181          0              90             0              113
  51  Spoon           1.787          0.801          1.740          0              47.0           0              71
  52  Mug             2.302          0.759          4.495          0              0              0              57
  53  Sink            -0.716         1.023          1.333          0              0              0
  54  StoveBurner     1.835          1.018          -1.840         0              90             0
  55  StoveBurner     2.177          1.018          -1.599         0              0              0
  56  CounterTop      2.812          0.992          0.675          0              0              0
  57  DiningTable     2.419          0.003          3.930          0              0              0
  58  Drawer          -0.643         0.828          0.616          0              0              0
  59  CounterTop      -0.813         1.062          2.188          0              0              0
  60  StoveBurner     2.115          1.018          -1.840         0              270            0
  61  Drawer          -0.643         0.831          1.953          0              0              0
  62  Drawer          -0.643         0.833          2.418          0              0              0
  63  Drawer          1.347          0.836          -1.539         0              0              0
  64  Drawer          2.693          0.833          -1.131         0              0              0
  65  Drawer          2.693          0.833          -0.699         0              0              0
  66  Drawer          2.693          0.833          -0.267         0              0              0
  67  Drawer          2.693          0.833          0.163          0              0              0
  68  Drawer          2.524          0.833          0.720          0              2.000          0
  69  Drawer          2.232          0.833          1.036          0              2.000          0
  70  Drawer          1.936          0.833          1.354          0              2.000          0
  71  Drawer          1.646          0.833          1.670          0              2.000          0
  72  Cabinet         1.504          2.475          -1.710         0              0              0
  73  Cabinet         -0.823         2.220          1.621          0              0              0
  74  Cabinet         -0.823         2.220          0.615          0              0              0
  75  Cabinet         1.136          0.388          -1.355         0              0              0
  76  Cabinet         -0.356         0.383          2.626          0              0              0
  77  Cabinet         2.745          2.220          -1.690         0              0              0
  78  Cabinet         1.882          0.383          1.017          0              0              0
  79  Cabinet         1.307          0.473          1.640          0              0              0
  80  Cabinet         1.892          0.383          1.006          0              0              0
  81  Cabinet         2.467          0.383          0.383          0              0              0
  82  Cabinet         2.466          0.383          -0.475         0              0              0
  83  Cabinet         2.466          0.473          0.371          0              0              0
  84  Cabinet         2.386          2.475          -1.710         0              0              0
  85  Cabinet         -0.356         0.383          1.712          0              0              0
  86  Cabinet         2.745          2.220          0.019          0              0              0
  87  Cabinet         -0.663         2.496          0.157          0              0              0
  88  Cabinet         -0.663         2.496          -0.868         0              0              0
  89  Cabinet         -0.356         0.383          0.269          0              0              0
  90  Cabinet         -0.823         2.220          1.603          0              0              0
  91  Cabinet         -0.662         2.234          0.586          0              0              0
  92  Cabinet         2.745          2.220          -0.843         0              0              0
  93  Cabinet         2.745          2.220          -0.827         0              0              0
  94  Cabinet         -0.823         2.220          2.608          0              0              0
  95  Cabinet         2.732          2.226          -1.709         0              0              0
  96  Cabinet         1.137          2.226          -1.709         0              0              0
  97  Cabinet         2.466          0.383          -0.491         0              0              0
  98  Cabinet         2.466          0.383          -1.339         0              0              0
  99  StoveBurner     1.761          1.018          -1.599         0              0              0
 100  Fridge          -0.908         0.0            -0.405         0              0              0
 101  HousePlant      2.517          1.016          1.822          0              0              0
 102  Microwave       1.939          1.745          -1.826         0              0              0
 103  StoveKnob       2.017          1.041          -1.514         0              180            180
 104  StoveKnob       1.934          1.041          -1.514         0              180            180
 105  StoveKnob       2.017          1.041          -1.589         0              180            180
 106  StoveKnob       1.934          1.041          -1.589         0              180            180
 107  Window          1.756          1.608          4.762          90             0              0
 108  HousePlant      2.171          1.004          2.091          0              0              0
 109  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 110  LightSwitch     -0.099         1.410          -2.066         0              0              0
 111  GarbageCan      -0.951         -0.029         2.826          0              0              0
 112  Toaster         -1.007         1.018          2.238          0              90             0
 113  SinkBasin       -0.714         0.805          1.348          0              90             0
 114  Chair           1.615          0.004          4.310          0              107.976        0
 115  Faucet          -1.120         1.013          1.334          0              90             0
 116  Chair           2.759          0.004          3.086          0              358.967        0
 117
 118  NorthWall
 119  EastWall
 120  SouthWall
 121  WestWall

Plan:
STEP 1: turn around right go forward across the room  | STEP 2: towards the white table pick up the loaf of bread | STEP 3: pick the knife from the table | STEP 4: slice the loaf of bread | STEP 5: put the knife back on the table | STEP 6: pick one slice of bread | STEP 7: turn to the left | STEP 8: turn to the left again  | STEP 9: turn left forward go right towards the microwave | STEP 10: open the microwave put the slice of bread inside of it | STEP 11: get it back out turn to the right go right turn right across the room towards the white table | STEP 12: put the slice of bread on top of the white table | END