Task: Place a warm piece of bread on 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           0.75           0.900          3.25           0              0              0
   1  Pan             2.116          1.027          -1.84          0              270            0              62
   2  Potato          1.895          1.903          -1.876         0              0              0              104
   3  Potato          -0.851         0.858          1.337          0              90             0              115
   4  Ladle           -0.852         2.329          -0.551         0              0              0              90
   5  DishSponge      2.818          0.800          -0.607         0              0              0              67
   6  DishSponge      2.893          1.026          1.200          0              136.999        0              58
   7  WineBottle      2.673          0.765          4.495          0              0              0              59
   8  WineBottle      -0.809         0.330          -0.627         0              90             0              102
   9  Glassbottle     -0.577         0.817          1.492          0              90             0              115
  10  Glassbottle     -0.544         1.028          0.323          0              0              0              61
  11  Pot             1.761          1.027          -1.599         0              0              0              101
  12  Pot             2.177          1.027          -1.599         0              0              0              57
  13  Spatula         2.451          0.779          3.795          0              0              0              59
  14  Spoon           -0.660         0.801          2.061          0              0              0              63
  15  Egg             -0.831         1.486          -0.184         0              90             0              102
  16  Egg             2.763          0.808          3.726          0              329.999        0              59
  17  Cup             -0.906         1.779          2.485          0              0              0              96
  18  Plate           2.100          0.764          3.895          0              270            0              59
  19  Plate           2.599          0.764          3.795          0              0              0              59
  20  SoapBottle      2.815          0.763          4.124          0              225            0              59
  21  SoapBottle      -1.187         1.026          1.150          0              0              0              61
  22  Bowl            2.302          0.762          4.32           0              0              0              59
  23  Bowl            -1.013         1.440          -0.295         0              90             0              102
  24  SaltShaker      2.762          0.797          -0.175         0              0              0              68
  25  PepperShaker    1.230          1.023          -1.987         0              90             0              58
  26  Bread           2.840          0.832          4.359          0              225            0              59
  27  Bread           2.509          1.094          1.401          0              136.999        0              58
  28  Lettuce         2.346          0.822          4.074          0              225            0              59
  29  Lettuce         2.506          0.822          3.577          0              329.999        0              59
  30  Pan             2.042          1.017          1.779          0              0              0              58
  31  Glassbottle     -1.028         0.786          -0.627         0              90             0              102
  32  Knife           2.959          1.052          -1.151         0              90             0              58
  33  SoapBottle      2.276          0.763          3.821          0              270            0              59
  34  Egg             2.302          0.808          3.62           0              0              0              59
  35  Fork            1.469          1.027          -1.774         0              0              0              58
  36  Potato          1.409          1.068          -1.987         0              270            0              58
  37  Ladle           -0.590         0.839          0.535          0              0              0              60
  38  Tomato          -0.669         1.081          0.416          0              0              0              61
  39  Pot             1.836          1.027          -1.84          0              90             0              56
  40  WineBottle      2.515          0.765          4.007          0              329.999        0              59
  41  Plate           2.568          1.781          -1.911         0              0              0              86
  42  Spatula         -0.920         1.042          1.943          0              180            0              61
  43  PaperTowelRoll  -1.130         1.131          1.243          0              0              0              61
  44  Lettuce         2.875          1.085          -1.151         0              0              0              58
  45  Apple           2.525          0.814          4.495          0              0              0              59
  46  SaltShaker      -1.171         1.023          1.943          0              0              0              61
  47  PepperShaker    2.580          0.760          4.099          0              225            0              59
  48  ButterKnife     2.726          0.764          3.492          0              329.999        0              59
  49  Bread           2.976          0.832          3.895          0              270            0              59
  50  Cup             -0.906         0.784          -0.738         0              90             0              102
  51  DishSponge      1.724          0.800          1.807          0              317.0          0              73
  52  Bowl            -0.968         1.440          -0.627         0              90             0              102
  53  Spoon           2.599          0.765          3.445          0              90             0              59
  54  Mug             2.100          0.759          4.044          0              0              0              59
  55  Sink            -0.716         1.023          1.333          0              0              0
  56  StoveBurner     1.835          1.018          -1.840         0              90             0
  57  StoveBurner     2.177          1.018          -1.599         0              0              0
  58  CounterTop      2.812          0.992          0.675          0              0              0
  59  DiningTable     2.419          0.003          3.930          0              0              0
  60  Drawer          -0.643         0.828          0.616          0              0              0
  61  CounterTop      -0.813         1.062          2.188          0              0              0
  62  StoveBurner     2.115          1.018          -1.840         0              270            0
  63  Drawer          -0.643         0.831          1.953          0              0              0
  64  Drawer          -0.643         0.833          2.418          0              0              0
  65  Drawer          1.347          0.836          -1.539         0              0              0
  66  Drawer          2.693          0.833          -1.131         0              0              0
  67  Drawer          2.693          0.833          -0.699         0              0              0
  68  Drawer          2.693          0.833          -0.267         0              0              0
  69  Drawer          2.693          0.833          0.163          0              0              0
  70  Drawer          2.524          0.833          0.720          0              2.000          0
  71  Drawer          2.232          0.833          1.036          0              2.000          0
  72  Drawer          1.936          0.833          1.354          0              2.000          0
  73  Drawer          1.646          0.833          1.670          0              2.000          0
  74  Cabinet         1.504          2.475          -1.710         0              0              0
  75  Cabinet         -0.823         2.220          1.621          0              0              0
  76  Cabinet         -0.823         2.220          0.615          0              0              0
  77  Cabinet         1.136          0.388          -1.355         0              0              0
  78  Cabinet         -0.356         0.383          2.626          0              0              0
  79  Cabinet         2.745          2.220          -1.690         0              0              0
  80  Cabinet         1.882          0.383          1.017          0              0              0
  81  Cabinet         1.307          0.473          1.640          0              0              0
  82  Cabinet         1.892          0.383          1.006          0              0              0
  83  Cabinet         2.467          0.383          0.383          0              0              0
  84  Cabinet         2.466          0.383          -0.475         0              0              0
  85  Cabinet         2.466          0.473          0.371          0              0              0
  86  Cabinet         2.386          2.475          -1.710         0              0              0
  87  Cabinet         -0.356         0.383          1.712          0              0              0
  88  Cabinet         2.745          2.220          0.019          0              0              0
  89  Cabinet         -0.663         2.496          0.157          0              0              0
  90  Cabinet         -0.663         2.496          -0.868         0              0              0
  91  Cabinet         -0.356         0.383          0.269          0              0              0
  92  Cabinet         -0.823         2.220          1.603          0              0              0
  93  Cabinet         -0.662         2.234          0.586          0              0              0
  94  Cabinet         2.745          2.220          -0.843         0              0              0
  95  Cabinet         2.745          2.220          -0.827         0              0              0
  96  Cabinet         -0.823         2.220          2.608          0              0              0
  97  Cabinet         2.732          2.226          -1.709         0              0              0
  98  Cabinet         1.137          2.226          -1.709         0              0              0
  99  Cabinet         2.466          0.383          -0.491         0              0              0
 100  Cabinet         2.466          0.383          -1.339         0              0              0
 101  StoveBurner     1.761          1.018          -1.599         0              0              0
 102  Fridge          -0.908         0.0            -0.405         0              0              0
 103  HousePlant      2.517          1.016          1.822          0              0              0
 104  Microwave       1.939          1.745          -1.826         0              0              0
 105  StoveKnob       2.017          1.041          -1.514         0              180            180
 106  StoveKnob       1.934          1.041          -1.514         0              180            180
 107  StoveKnob       2.017          1.041          -1.589         0              180            180
 108  StoveKnob       1.934          1.041          -1.589         0              180            180
 109  Window          1.756          1.608          4.762          90             0              0
 110  HousePlant      2.171          1.004          2.091          0              0              0
 111  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 112  LightSwitch     -0.099         1.410          -2.066         0              0              0
 113  GarbageCan      -0.951         -0.029         2.826          0              0              0
 114  Toaster         -1.007         1.018          2.238          0              90             0
 115  SinkBasin       -0.714         0.805          1.348          0              90             0
 116  Chair           1.615          0.004          4.310          0              107.976        0
 117  Faucet          -1.120         1.013          1.334          0              90             0
 118  Chair           2.759          0.004          3.086          0              358.967        0
 119
 120  NorthWall
 121  EastWall
 122  SouthWall
 123  WestWall

Plan:
STEP 1: Turn to the right and walk to the table in the corner of the room, under the window.  | STEP 2: Pick up the knife that is by the spoon off of the table.  | STEP 3: Walk closer to the table by moving forward.  | STEP 4: Slice half of the loaf of bread on the far right of the table.  | STEP 5: Turn to the left and walk to the microwave with knife still in hand.  | STEP 6: Open the microwave, place the knife inside, close the microwave.  | STEP 7: Turn to the right and walk back to the table.  | STEP 8: Pick up a slice of bread from the middle of the loaf.  | STEP 9: Turn to the left and walk to the microwave.  | STEP 10: Open the microwave, place the bread inside, close the microwave, start the microwave, open the microwave, and remove the bread.  | STEP 11: Back to, turn to the right and walk back to the table with bread in hand.  | STEP 12: Place the bread on the table.  | END