Task: place microwaved bread down 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           2.0            0.900          1.5            0              0              0
   1  Pan             1.328          0.957          -1.420         0              180            0              56
   2  Book            -2.525         0.871          3.565          0              225            0              54
   3  Book            -0.999         1.651          -1.712         0              0              0              64
   4  Kettle          -2.152         0.879          3.073          0              270            0              54
   5  Kettle          0.974          0.957          -1.688         0              180            0              51
   6  Spatula         0.069          0.945          -1.646         0              90             0              49
   7  Pot             1.328          0.957          -1.688         0              180            0              55
   8  Spoon           -1.738         0.913          -0.614         0              0              0              67
   9  Spoon           -2.048         0.719          -1.510         0              90             0              71
  10  Plate           0.617          0.916          -1.776         0              0              0              52
  11  Tomato          -0.871         0.240          2.058          0              90             0              82
  12  Tomato          -2.072         0.959          -0.614         0              0              0              52
  13  Bowl            -2.367         0.872          3.408          0              225            0              54
  14  SaltShaker      -1.961         0.908          -0.939         0              0              0              52
  15  PepperShaker    3.586          0.549          1.656          0              270            0              75
  16  PepperShaker    -1.516         0.908          0.037          0              0              0              52
  17  Bread           -1.516         0.995          0.363          0              0              0              52
  18  Lettuce         -0.149         1.637          2.040          0              180            0              77
  19  Mug             -2.996         0.869          3.370          0              270            0              54
  20  Book            -1.94          0.900          -1.693         0              0              0              71
  21  Fork            -0.723         0.912          -1.267         0              0              0              52
  22  Tomato          -1.378         0.959          -1.674         0              0              0              52
  23  Egg             -0.377         0.828          1.966          0              180            0              77
  24  Kettle          0.633          0.117          -1.370         0              0              0              59
  25  Vase            3.671          0.168          1.841          0              0              0              75
  26  Cup             0.307          0.801          2.080          0              180            0              77
  27  WineBottle      -1.849         0.913          -0.939         0              0              0              52
  28  Plate           -2.584         0.878          2.715          0              0              0              54
  29  Spatula         -1.649         0.732          -0.788         0              270            0              67
  30  Potato          0.234          0.965          -1.429         0              270            0              49
  31  Pot             0.974          0.957          -1.419         0              180            0              70
  32  Knife           0.069          0.950          -1.790         0              180            0              49
  33  SaltShaker      3.662          0.877          1.963          0              270            0              73
  34  PepperShaker    0.617          0.908          -1.471         0              0              0              52
  35  Lettuce         -2.501         0.943          3.064          0              225            0              54
  36  ButterKnife     -0.040         0.928          -1.646         0              270            0              49
  37  Bread           -2.793         0.961          3.565          0              135            0              54
  38  Vase            1.648          0.115          -1.450         0              0              0              58
  39  DishSponge      -0.844         0.192          2.213          0              90             0              82
  40  Apple           0.079          0.444          2.054          0              180            0              77
  41  Pan             0.972          0.959          -1.426         0              0              0              70
  42  Spoon           1.760          0.911          -1.618         0              90             0              72
  43  SoapBottle      3.689          0.881          1.861          0              270            0              73
  44  Mug             0.079          1.567          2.160          0              180            0              77
  45  Statue          3.676          0.168          1.410          0              334.521        0              75
  46  Statue          3.668          0.540          1.800          0              0              0              75
  47  Bowl            -2.898         0.872          2.983          0              225            0              54
  48  Cabinet         -2.171         2.009          -1.538         0              0              0
  49  Sink            0.024          0.771          -1.708         0              270            0
  50  Cabinet         1.444          2.259          -1.542         0              0              0
  51  StoveBurner     0.974          0.957          -1.688         0              180            0
  52  CounterTop      -1.866         0.947          -0.614         0              0              0
  53  Cabinet         -2.217         0.373          -1.874         0              0              0
  54  DiningTable     -2.663         0.002          3.208          0              0              0
  55  StoveBurner     1.328          0.957          -1.688         0              180            0
  56  StoveBurner     1.328          0.957          -1.420         0              180            0
  57  Cabinet         -1.478         0.373          -1.235         0              0              0
  58  Cabinet         1.775          0.372          -1.242         0              0              0
  59  Cabinet         0.774          0.372          -1.242         0              0              0
  60  Cabinet         0.375          0.372          -1.242         0              0              0
  61  Cabinet         -0.574         0.372          -1.238         0              0              0
  62  Cabinet         1.775          2.009          -1.542         0              0              0
  63  Cabinet         0.524          2.009          -1.542         0              0              0
  64  Cabinet         -0.714         2.009          -1.542         0              0              0
  65  Cabinet         -1.671         2.009          -1.538         0              0              0
  66  Cabinet         0.854          2.259          -1.542         0              0              0
  67  Drawer          -1.636         0.683          -0.930         0              0              0
  68  Drawer          1.650          0.682          -1.396         0              0              0
  69  Drawer          0.600          0.682          -1.396         0              0              0
  70  StoveBurner     0.974          0.957          -1.419         0              180            0
  71  Drawer          -2.062         0.683          -1.579         0              0              0
  72  CounterTop      1.645          0.945          -1.527         0              0              0
  73  Shelf           3.725          0.880          1.671          0              90             0
  74  LightSwitch     2.830          1.266          -0.748         0              0              0
  75  Shelf           3.726          0.552          1.671          0              90             0
  76  Microwave       1.150          1.655          -1.614         0              0              0
  77  Fridge          -0.035         0.0            2.177          0              180            0
  78  Window          -0.115         1.802          -1.896         90             0              0
  79  Window          -4.009         1.799          0.310          90             90             0
  80  Shelf           3.726          0.172          1.671          0              90             0
  81  SinkBasin       -0.330         0.686          -1.581         0              270            0
  82  GarbageCan      -0.870         -0.001         2.136          0              90             0
  83  StoveKnob       1.089          0.913          -1.243         45             0              0
  84  StoveKnob       1.208          0.913          -1.243         45             0              0
  85  StoveKnob       1.340          0.913          -1.243         45             0              0
  86  StoveKnob       0.961          0.913          -1.243         45             0              0
  87  Toaster         1.637          0.900          -1.673         0              0              0
  88  Chair           -3.505         0.002          3.290          0              105.736        0
  89  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  90  HousePlant      -2.663         0.835          3.209          0              0              0
  91  Faucet          -0.187         0.922          -1.75          0              311.166        0
  92  ShelvingUnit    3.726          0.006          1.671          0              90             0
  93  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  94  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  95  Chair           -2.934         0.002          2.437          0              28.531         0
  96  Chair           -1.698         0.002          3.235          0              245.204        0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: turn left and walk to the fridge, then turn left and walk over to the sink | STEP 2: grab the knife off of the left side of the sink | STEP 3: turn right and walk over to the kitchen counter, then take another right and walk to the end of the kitchen counter, a left to the wall, then a right to the table | STEP 4: slice up the bread on the table | STEP 5: place the knife down on the table in front of the cup | STEP 6: grab a slice of bread off of the table | STEP 7: turn right and walk to the end of the counter on the left, then turn left and walk to the near end of the room, turn right there to walk to the kitchen stove | STEP 8: place the bread in the microwave above the stove, microwave it, then take it out | STEP 9: turn right and walk over to the kitchen counter, then take another right and walk to the end of the kitchen counter, a left to the wall, then a right to the table | STEP 10: place the bread down on the table to the left of the knife | END