Task: Slice bread, warm it in microwave, put on counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.899          3.75           0              90             0
   1  Pan             -2.924         0.930          1.712          0              180            0              69
   2  DishSponge      -4.233         0.790          3.347          0              270            0              104
   3  DishSponge      -0.411         0.924          5.932          0              0              0              57
   4  WineBottle      -3.748         0.069          6.457          0              270            0              98
   5  WineBottle      -3.859         0.924          1.573          0              0              0              72
   6  Pot             -2.469         0.930          1.712          0              270            0              87
   7  Fork            -0.334         0.925          5.273          0              180            0              57
   8  Spoon           -1.777         0.924          1.875          0              0              0              54
   9  Spoon           -0.258         0.926          4.615          0              0              0              57
  10  Cup             -0.181         0.923          4.615          0              0              0              57
  11  Cup             -1.777         0.922          1.573          0              0              0              54
  12  Egg             -4.308         0.826          3.347          0              270            0              104
  13  Egg             -2.688         1.582          1.731          0              0              0              102
  14  Plate           -0.295         1.071          3.602          0              270            0              105
  15  Plate           -0.401         1.071          3.231          0              270            0              105
  16  Knife           -1.777         0.953          1.724          0              0              0              54
  17  SaltShaker      -4.123         0.080          3.084          0              0              0              85
  18  PepperShaker    -4.094         0.751          2.768          0              0              0              52
  19  PepperShaker    -0.224         2.132          6.534          0              180            0              56
  20  Bread           -0.411         1.004          5.273          0              0              0              57
  21  Mug             -4.335         0.918          5.159          0              90             0              72
  22  Egg             -0.424         1.371          3.726          0              270            0              105
  23  Apple           -0.342         1.739          3.915          0              270            0              105
  24  Knife           -1.860         0.953          2.026          0              0              0              54
  25  Potato          -4.108         0.956          5.159          0              90             0              72
  26  Fork            -4.102         0.924          2.300          0              0              0              72
  27  Bowl            -1.934         0.078          1.892          0              0              0              88
  28  Plate           -4.196         0.791          3.159          0              270            0              104
  29  Lettuce         -0.334         1.020          5.603          0              0              0              57
  30  Bread           -0.295         1.150          3.850          0              270            0              105
  31  Tomato          -0.218         1.392          3.974          0              270            0              105
  32  WineBottle      -1.860         0.924          1.8            0              0              0              54
  33  Spatula         -0.181         0.940          5.603          0              90             0              57
  34  PaperTowelRoll  -4.108         1.027          5.418          0              90             0              72
  35  Cup             -0.342         1.579          3.289          0              270            0              105
  36  Pencil          -0.473         0.746          6.074          0              270            0              83
  37  Pan             -3.494         0.923          5.412          0              90             0              72
  38  Pot             -4.335         0.924          4.900          0              0              0              72
  39  SaltShaker      -0.104         0.921          5.273          0              0              0              51
  40  SoapBottle      -0.565         0.924          6.591          0              0              0              57
  41  PepperShaker    -1.610         0.919          1.8            0              0              0              54
  42  ButterKnife     -2.026         0.923          1.875          0              0              0              54
  43  DishSponge      -1.693         0.923          1.951          0              0              0              54
  44  Spoon           -1.782         0.747          1.956          0              0              0              70
  45  Mug             -2.530         1.541          1.731          0              0              0              102
  46  Cabinet         -3.203         1.931          1.777          0              0              0
  47  Cabinet         -3.187         0.390          2.089          0              0              0
  48  Cabinet         -0.637         0.387          6.882          0              180            0
  49  Drawer          -3.797         0.781          1.961          0              0              0
  50  Cabinet         -3.036         0.387          5.029          0              90             0
  51  Drawer          -0.509         0.775          5.268          0              270            0
  52  Drawer          -4.125         0.798          2.499          0              0              0
  53  Cabinet         -0.331         2.249          4.308          0              180            0
  54  CounterTop      -1.872         0.958          1.799          0              0              0
  55  StoveBurner     -2.924         0.924          2.012          0              0              0
  56  Cabinet         -0.331         2.249          6.806          0              180            0
  57  CounterTop      -0.345         0.960          5.603          0              0              0
  58  Cabinet         -3.039         1.935          5.321          0              90             0
  59  Cabinet         -3.922         0.397          2.088          0              0              0
  60  StoveBurner     -2.467         0.924          2.012          0              0              0
  61  Cabinet         -0.331         2.249          5.505          0              180            0
  62  Drawer          -0.509         0.775          4.617          0              270            0
  63  Drawer          -3.509         0.777          5.157          0              180            0
  64  Cabinet         -3.961         0.388          2.878          0              0              0
  65  Cabinet         -3.961         0.388          4.342          0              0              0
  66  Cabinet         -0.637         0.387          5.582          0              180            0
  67  Cabinet         -0.637         0.388          4.299          0              180            0
  68  Cabinet         -0.637         0.388          5.599          0              180            0
  69  StoveBurner     -2.924         0.924          1.712          0              180            0
  70  Drawer          -1.859         0.775          1.961          0              0              0
  71  Cabinet         -0.331         2.249          5.609          0              180            0
  72  CounterTop      -4.260         0.958          4.943          0              90             0
  73  Cabinet         -4.284         1.931          2.226          0              0              0
  74  Cabinet         -0.331         2.249          3.010          0              180            0
  75  Drawer          -3.801         0.777          5.157          0              180            0
  76  Cabinet         -4.112         1.935          5.321          0              90             0
  77  Cabinet         -3.968         0.388          3.662          0              0              0
  78  Drawer          -3.418         0.777          1.961          0              0              0
  79  Drawer          -4.090         0.777          4.661          0              90             0
  80  Faucet          -4.441         0.909          3.288          270            0              0
  81  Cabinet         -0.331         2.249          4.207          0              180            0
  82  Cabinet         -3.961         0.388          2.119          0              0              0
  83  Drawer          -0.509         0.775          5.920          0              270            0
  84  Drawer          -3.193         0.777          5.157          0              180            0
  85  Cabinet         -3.968         0.388          2.894          0              0              0
  86  Cabinet         -3.667         0.387          5.029          0              90             0
  87  StoveBurner     -2.469         0.924          1.712          0              270            0
  88  Cabinet         -1.539         0.388          2.090          0              0              0
  89  Sink            -4.190         0.921          3.279          0              0              0
  90  Cabinet         -3.641         0.387          5.029          0              90             0
  91  Cabinet         -1.583         1.931          1.777          0              0              0
  92  Drawer          -0.509         0.775          6.568          0              270            0
  93  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  94  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  96  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  97  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  98  GarbageCan      -3.711         -0.030         6.376          0              270            0
  99  Toaster         -3.578         0.912          1.763          0              0              0
 100  Curtains        -4.522         2.252          3.391          90             90             0
 101  Window          -4.868         1.629          3.309          90             270            0
 102  Microwave       -2.693         1.430          1.689          0              0              0
 103  LightSwitch     -1.588         1.169          1.506          0              0              0
 104  SinkBasin       -4.196         0.780          3.276          0              270            0
 105  Fridge          -0.324         -0.001         3.602          0              0              0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn right, proceed to counter to the left of the stove. | STEP 2: Pick up knife closest to edge of counter, to the right of the green sponge. | STEP 3: Turn around, proceed half way down counter on right.  Turn right to face counter with bread on it. | STEP 4: Slice bread on counter with knife. | STEP 5: Place knife on top of bread. | STEP 6: Remove center slice of bread. | STEP 7: Turn around, proceed to counter, turn left and proceed to stove. | STEP 8: Open microwave above stove, put slice of bread in microwave behind the egg, shut microwave door.  Wait four seconds, open microwave door, remove bread slice, close door. | STEP 9: Turn left, proceed to counter to right.  Turn right to face counter. | STEP 10: Put bread on counter, standing on its bottom, to the right of the green sponge. | END