Task: Put a heated 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           -3.0           0.900          0.25           0              180            0
   1  Pan             -1.961         0.911          -1.265         0              0              0              61
   2  ButterKnife     0.289          0.930          -1.646         0              270            0              58
   3  ButterKnife     -3.122         0.874          3.475          0              135            0              63
   4  WineBottle      -2.510         0.875          3.728          0              0              0              63
   5  WineBottle      -2.321         0.875          3.073          0              270            0              63
   6  Spatula         0.069          0.943          -1.429         0              270            0              58
   7  Spatula         -2.659         0.893          3.370          0              0              0              63
   8  Fork            1.687          0.910          -1.346         0              0              0              81
   9  Fork            0.124          0.929          -1.573         0              0              0              58
  10  Spoon           -2.072         0.913          0.037          0              0              0              61
  11  Cup             -2.143         0.876          3.021          0              135            0              63
  12  Cup             0.014          0.928          -1.718         0              270            0              58
  13  Plate           -2.420         0.882          3.460          0              225            0              63
  14  Plate           -1.612         0.123          -1.066         0              0              0              66
  15  Knife           -2.733         0.896          2.884          0              0              0              63
  16  Knife           1.760          0.932          -1.528         0              90             0              81
  17  SoapBottle      -2.510         0.875          2.715          0              0              0              63
  18  SoapBottle      -3.122         0.875          2.968          0              225            0              63
  19  Bowl            3.637          0.551          1.449          0              270            0              84
  20  SaltShaker      0.674          0.112          -1.483         0              0              0              68
  21  PepperShaker    3.845          0.549          1.449          0              270            0              84
  22  PepperShaker    -0.181         0.118          -1.413         0              0              0              70
  23  Bread           0.571          0.995          -1.776         0              0              0              61
  24  Bread           -2.490         0.961          3.221          0              270            0              63
  25  Bread           -1.961         0.995          -0.939         0              0              0              61
  26  Mug             -0.330         0.702          -1.573         0              270            0              90
  27  Apple           0.709          0.967          -1.267         0              0              0              61
  28  Apple           0.079          1.199          2.206          0              180            0              86
  29  Book            -0.999         1.651          -1.712         0              0              0              73
  30  Fork            0.638          0.719          -1.410         0              0              0              78
  31  Tomato          -0.034         0.850          2.251          0              180            0              86
  32  Egg             -0.035         0.828          2.023          0              180            0              86
  33  Kettle          0.974          0.957          -1.419         0              180            0              79
  34  Vase            3.671          0.168          1.841          0              0              0              84
  35  Cup             0.289          0.927          -1.501         0              270            0              58
  36  WineBottle      0.549          0.117          -1.370         0              0              0              68
  37  Plate           -1.831         1.661          -1.674         0              0              0              57
  38  Spatula         -2.996         0.893          3.147          0              90             0              63
  39  Potato          1.578          0.946          -1.255         0              0              0              81
  40  Pot             -1.602         0.901          -0.172         0              308.119        0              61
  41  Knife           -2.950         0.900          3.035          0              225            0              63
  42  SaltShaker      -3.017         0.874          3.580          0              135            0              63
  43  PepperShaker    -1.649         0.115          -0.841         0              0              0              66
  44  Lettuce         -1.516         0.977          -1.265         0              0              0              61
  45  ButterKnife     -1.961         0.912          -0.614         0              0              0              61
  46  Bread           -2.659         0.961          3.559          0              0              0              63
  47  Vase            -1.557         1.658          -1.747         0              0              0              74
  48  DishSponge      3.662          0.880          1.759          0              270            0              84
  49  Apple           -0.367         0.752          -1.468         0              270            0              90
  50  Pan             1.328          0.957          -1.420         0              180            0              65
  51  Spoon           -2.726         0.879          3.049          0              225            0              63
  52  SoapBottle      -0.844         0.193          2.136          0              90             0              91
  53  Mug             -0.377         1.567          1.921          0              180            0              86
  54  Statue          3.676          0.168          1.410          0              334.521        0              84
  55  Statue          -0.833         0.910          -1.572         0              0              0              61
  56  Bowl            0.079          1.570          2.100          0              180            0              86
  57  Cabinet         -2.171         2.009          -1.538         0              0              0
  58  Sink            0.024          0.771          -1.708         0              270            0
  59  Cabinet         1.444          2.259          -1.542         0              0              0
  60  StoveBurner     0.974          0.957          -1.688         0              180            0
  61  CounterTop      -1.866         0.947          -0.614         0              0              0
  62  Cabinet         -2.217         0.373          -1.874         0              0              0
  63  DiningTable     -2.663         0.002          3.208          0              0              0
  64  StoveBurner     1.328          0.957          -1.688         0              180            0
  65  StoveBurner     1.328          0.957          -1.420         0              180            0
  66  Cabinet         -1.478         0.373          -1.235         0              0              0
  67  Cabinet         1.775          0.372          -1.242         0              0              0
  68  Cabinet         0.774          0.372          -1.242         0              0              0
  69  Cabinet         0.375          0.372          -1.242         0              0              0
  70  Cabinet         -0.574         0.372          -1.238         0              0              0
  71  Cabinet         1.775          2.009          -1.542         0              0              0
  72  Cabinet         0.524          2.009          -1.542         0              0              0
  73  Cabinet         -0.714         2.009          -1.542         0              0              0
  74  Cabinet         -1.671         2.009          -1.538         0              0              0
  75  Cabinet         0.854          2.259          -1.542         0              0              0
  76  Drawer          -1.636         0.683          -0.930         0              0              0
  77  Drawer          1.650          0.682          -1.396         0              0              0
  78  Drawer          0.600          0.682          -1.396         0              0              0
  79  StoveBurner     0.974          0.957          -1.419         0              180            0
  80  Drawer          -2.062         0.683          -1.579         0              0              0
  81  CounterTop      1.645          0.945          -1.527         0              0              0
  82  Shelf           3.725          0.880          1.671          0              90             0
  83  LightSwitch     2.830          1.266          -0.748         0              0              0
  84  Shelf           3.726          0.552          1.671          0              90             0
  85  Microwave       1.150          1.655          -1.614         0              0              0
  86  Fridge          -0.035         0.0            2.177          0              180            0
  87  Window          -0.115         1.802          -1.896         90             0              0
  88  Window          -4.009         1.799          0.310          90             90             0
  89  Shelf           3.726          0.172          1.671          0              90             0
  90  SinkBasin       -0.330         0.686          -1.581         0              270            0
  91  GarbageCan      -0.870         -0.001         2.136          0              90             0
  92  StoveKnob       1.089          0.913          -1.243         45             0              0
  93  StoveKnob       1.208          0.913          -1.243         45             0              0
  94  StoveKnob       1.340          0.913          -1.243         45             0              0
  95  StoveKnob       0.961          0.913          -1.243         45             0              0
  96  Toaster         1.637          0.900          -1.673         0              0              0
  97  Chair           -3.505         0.002          3.290          0              105.736        0
  98  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  99  HousePlant      -2.663         0.835          3.209          0              0              0
 100  Faucet          -0.187         0.922          -1.75          0              311.166        0
 101  ShelvingUnit    3.726          0.006          1.671          0              90             0
 102  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 103  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 104  Chair           -2.934         0.002          2.437          0              28.531         0
 105  Chair           -1.698         0.002          3.235          0              245.204        0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn left, go to the round table. | STEP 2: Take the knife closest to the blue right bottle from the table. | STEP 3: Turn around, go to the door, turn left at the last stool to face the counter. | STEP 4: Cut the bread on the counter into slices. | STEP 5: Put the knife on the counter in front of the pan. | STEP 6: Take a slice of bread from the counter. | STEP 7: Turn left, go straight, when the counter ends turn right, go straight and to the right to the oven. | STEP 8: Put the bread in the microwave above the oven. Turn the microwave on. Take the bread from the microwave. | STEP 9: Turn right, go straight, turn right, go straight, at the end of the counter turn left, go to the window, turn right, go between the wall and the table and face the table. | STEP 10: Put the bread to the left of the closest blue bottle on the table. | END