Task: To heat a bread slice and place it on the counter beside the potato.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.869          0.25           0              0              0
   1  ButterKnife     -1.056         0.900          1.187          0              270            0              70
   2  Spatula         0.866          0.774          0.002          0              270            0              43
   3  Spoon           -1.886         0.702          -0.875         0              0              0              80
   4  Spoon           -1.056         0.901          1.187          0              270            0              70
   5  Fork            -1.535         0.700          -3.445         0              90             0              71
   6  Fork            -1.970         0.702          -1.091         0              0              0              80
   7  Pot             -2.097         0.930          0.785          0              0              0              46
   8  Egg             -1.187         0.088          -3.574         0              270            0              59
   9  Egg             -1.599         0.736          -3.445         0              0              0              71
  10  Cup             -1.635         0.700          -1.416         0              0              0              80
  11  Plate           -1.719         0.705          -1.199         0              0              0              80
  12  Knife           0.877          0.906          -0.108         0              90             0              44
  13  Tomato          -0.855         0.949          0.843          0              270            0              70
  14  SoapBottle      0.787          0.014          -0.119         0              0              0              54
  15  Bowl            -0.051         0.899          1.101          0              270            0              70
  16  Bowl            0.903          1.462          0.411          0              0              0              56
  17  Bread           -1.056         0.944          0.929          0              270            0              70
  18  Lettuce         0.149          0.987          0.929          0              270            0              70
  19  Mug             0.708          0.460          -1.802         0              270            0              64
  20  Apple           -1.334         0.105          -3.574         0              270            0              59
  21  Apple           0.601          0.718          0.265          0              0              0              49
  22  Pot             -1.552         0.930          0.785          0              0              0              48
  23  Plate           -2.023         0.692          -1.447         0              0              0              80
  24  Fork            0.720          0.761          -0.124         0              0              0              43
  25  SoapBottle      -1.578         0.695          -3.698         0              0              0              71
  26  Apple           -2.002         0.852          -3.640         0              0              0              66
  27  Pan             0.740          -0.007         -0.596         0              0              0              47
  28  Egg             0.901          0.702          0.448          0              0              0              49
  29  Spatula         0.661          0.680          0.387          0              90             0              49
  30  Potato          0.582          0.916          -0.176         0              0              0              44
  31  Cup             0.708          0.663          -1.880         0              270            0              64
  32  SaltShaker      0.149          0.896          1.187          0              270            0              70
  33  PepperShaker    0.903          1.460          0.039          0              0              0              55
  34  ButterKnife     -1.641         0.696          -3.529         0              90             0              71
  35  DishSponge      -1.056         0.900          0.758          0              270            0              70
  36  Bread           0.781          0.708          0.508          0              0              0              49
  37  Lettuce         0.757          0.859          -0.735         0              270            0              67
  38  Tomato          0.669          0.713          -1.725         0              270            0              64
  39  Spoon           -0.252         0.901          0.929          0              270            0              70
  40  Knife           1.084          0.906          -0.838         0              90             0              44
  41  Mug             0.785          1.153          -1.725         0              270            0              64
  42  Bowl            0.903          1.462          -0.207         0              0              0              55
  43  Drawer          0.706          0.766          -0.125         0              0              0
  44  CounterTop      0.792          0.919          -0.108         0              0              0
  45  Mirror          1.093          1.602          -0.643         0              0              0
  46  StoveBurner     -2.096         0.890          0.785          0              0              0
  47  Cabinet         0.507          0.345          -0.426         0              0              0
  48  StoveBurner     -1.552         0.890          0.785          0              0              0
  49  SideTable       0.770          -0.030         0.443          0              0              0
  50  Sink            0.753          0.882          -0.680         0              0              0
  51  StoveBurner     -2.096         0.890          1.049          0              0              0
  52  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  53  StoveBurner     -1.554         0.890          1.049          0              0              0
  54  Cabinet         0.507          0.345          0.156          0              0              0
  55  Cabinet         0.717          1.822          -0.398         0              0              0
  56  Cabinet         0.717          1.822          0.669          0              0              0
  57  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  58  Toaster         -0.522         0.886          1.081          0              180            0
  59  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  60  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  61  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  62  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  63  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  64  Fridge          0.680          -0.031         -1.957         0              0              0
  65  Window          -2.424         1.639          -2.453         90             270            0
  66  Microwave       -1.994         0.690          -3.651         0              0              0
  67  SinkBasin       0.757          0.762          -0.688         0              270            0
  68  LightSwitch     1.102          1.368          -3.737         0              270            0
  69  Shelf           -0.350         0.124          0.857          0              0              0
  70  DiningTable     -0.350         -0.025         0.857          0              0              0
  71  DiningTable     -1.909         -0.032         -3.507         0              0              0
  72  Blinds          -2.343         2.151          -2.437         0              270            0
  73  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  74  AluminumFoil    0.751          0.225          0.287          0              0              0
  75  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  76  Shelf           0.771          0.226          0.445          0              0              0
  77  Shelf           0.771          0.456          0.446          0              0              0
  78  Faucet          1.025          0.873          -0.678         270            180            0
  79  Shelf           -0.350         0.497          0.857          0              0              0
  80  DiningTable     -1.929         -0.035         -1.398         0              90             0
  81  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn to the right and walk forward to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the left and face the black end table. | STEP 4: Cut the bread on the black end table into slices. | STEP 5: Take a step to the right to face the counter. | STEP 6: put the knife on the counter. | STEP 7: Step to the left to face the bread on the black end table. | STEP 8: Pick up a slice of bread on the black end table. | STEP 9: Turn around and walk across the room, then turn left and walk forward to face microwave. | STEP 10: Head the bread slice in the microwave and remove it. | STEP 11: Turn around and walk across the room, then turn right and walk forward to face the counter. | STEP 12: Place the bread slice on the counter next to the potato. | END