Task: Put a heated piece of bread on 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           -1.0           0.901          3.25           0              0              0
   1  Pan             -0.314         0.900          2.731          0              0              0              74
   2  Potato          -2.805         1.212          4.427          0              90             0              68
   3  DishSponge      -2.864         0.935          3.302          0              0              0              58
   4  Spoon           -1.824         0.663          0.355          0              0              0              54
   5  Fork            -2.549         0.936          3.395          0              90             0              58
   6  Fork            -1.007         0.796          0.281          0              90             0              69
   7  Pot             -0.314         0.900          3.133          0              0              0              74
   8  Plate           -2.892         0.904          2.309          0              0              0              72
   9  Knife           -0.486         0.926          3.334          0              0              0              74
  10  Knife           -2.789         0.926          2.045          0              0              0              72
  11  SoapBottle      -1.770         0.927          0.348          0              0              0              51
  12  SoapBottle      -2.686         0.900          2.045          0              0              0              72
  13  SaltShaker      -1.986         0.658          0.245          0              0              0              54
  14  SaltShaker      -2.485         0.658          0.245          0              0              0              59
  15  Lettuce         -2.805         1.266          4.278          0              90             0              68
  16  Mug             -2.778         1.001          3.714          0              90             0              71
  17  Mug             -2.377         0.895          2.441          0              0              0              72
  18  Apple           -2.583         0.956          2.441          0              0              0              72
  19  Egg             -1.085         0.961          0.659          0              0              0              51
  20  Plate           -0.304         1.777          0.251          0              0              0              50
  21  Fork            -0.572         0.901          2.932          0              0              0              74
  22  Bread           -0.314         0.957          2.329          0              0              0              74
  23  Apple           -2.686         0.956          1.913          0              0              0              72
  24  Lettuce         -2.831         0.378          4.352          0              90             0              68
  25  Spatula         -2.583         0.915          2.045          0              180            0              72
  26  Knife           -2.269         0.688          0.409          0              0              0              59
  27  Potato          -2.833         0.080          0.419          0              26.101         0              75
  28  Tomato          -2.847         0.696          4.501          0              90             0              68
  29  Cup             -0.191         1.023          0.267          0              0              0              70
  30  SaltShaker      -0.819         0.924          0.650          0              0              0              51
  31  PepperShaker    -2.628         0.931          3.302          0              0              0              58
  32  ButterKnife     -1.266         0.795          0.337          0              0              0              69
  33  SoapBottle      -2.480         0.900          2.573          0              0              0              72
  34  Pan             -0.250         0.926          4.651          0              0              0              53
  35  DishSponge      -2.764         0.053          0.301          0              26.101         0              65
  36  Pot             -0.535         0.928          4.274          0              0              0              55
  37  Spoon           -2.037         0.929          0.348          0              0              0              51
  38  Mug             -2.628         0.930          3.488          0              0              0              58
  39  Bowl            -1.636         1.770          0.160          0              0              0              46
  40  Drawer          -0.325         0.696          0.413          0              0              0
  41  Cabinet         -0.595         0.490          0.648          0              0              0
  42  Cabinet         -0.555         0.490          0.646          0              0              0
  43  Cabinet         -1.591         0.490          0.646          0              0              0
  44  Cabinet         -1.554         0.490          0.646          0              0              0
  45  Cabinet         -2.550         0.490          0.646          0              0              0
  46  Cabinet         -1.514         2.046          0.392          0              0              0
  47  Cabinet         -2.474         2.046          0.392          0              0              0
  48  Cabinet         -1.478         2.046          0.392          0              0              0
  49  Cabinet         -0.518         2.046          0.392          0              0              0
  50  Cabinet         -0.479         2.046          0.392          0              0              0
  51  CounterTop      -1.366         0.952          0.349          0              0              0
  52  Sink            -1.108         0.926          0.340          0              0              0
  53  StoveBurner     -0.254         0.922          4.672          0              0              0
  54  Drawer          -1.824         0.696          0.413          0              0              0
  55  StoveBurner     -0.535         0.922          4.274          0              0              0
  56  StoveBurner     -0.254         0.922          4.274          0              0              0
  57  StoveBurner     -0.536         0.922          4.672          0              0              0
  58  CounterTop      -2.780         0.971          3.487          0              0              0
  59  Drawer          -2.323         0.696          0.413          0              0              0
  60  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  64  Toaster         -0.286         0.861          3.520          0              270            0
  65  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  66  LightSwitch     -0.064         1.447          1.996          0              270            0
  67  Window          -3.075         1.593          1.361          90             90             0
  68  Fridge          -2.802         0.0            4.427          0              0              0
  69  SinkBasin       -1.106         0.785          0.337          0              0              0
  70  Microwave       -0.358         0.917          0.224          0              0              0
  71  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  72  DiningTable     -2.733         -0.003         2.607          0              270            0
  73  Faucet          -1.077         0.920          0.028          270            270            0
  74  DiningTable     -0.488         -0.003         3.182          0              270            0
  75
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn around and walk to the sink. | STEP 2: Pick up a knife from the right side of the sink. | STEP 3: Turn around and carry the knife to the table. | STEP 4: Slice the loaf of bread on the table. | STEP 5: Turn around and walk to the counter with the knife. | STEP 6: Open a drawer from the left and put the knife in the drawer, close the drawer. | STEP 7: Turn around and go back to the loaf of bread. | STEP 8: Take a piece of bread from the end of the loaf. | STEP 9: Turn around and bring the piece of bread to the microwave next to the sink. | STEP 10: Put the piece of bread in the microwave and heat it. | STEP 11: Turn around and walk across the room to the table. | STEP 12: Set the piece of bread near the fork on the table. | END