Task: To cut plus heat a slice of bread as well as place it on the counter by the paper towels.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          -0.75          0              90             0
   1  Kettle          1.846          0.913          0.375          0              0              0              66
   2  Potato          -1.872         1.081          -1.677         0              0              0              81
   3  Potato          0.649          0.949          -1.449         0              0              0              49
   4  DishSponge      -2.340         0.951          0.524          0              90             0              84
   5  ButterKnife     -2.614         0.952          0.255          0              270            0              84
   6  ButterKnife     1.658          0.912          -1.654         0              0              0              51
   7  Pot             1.361          0.962          0.561          0              270            0              56
   8  Fork            -1.791         0.952          0.435          0              90             0              84
   9  Fork            -1.928         0.952          0.524          0              180            0              84
  10  Spoon           0.446          0.774          0.338          0              270            0              47
  11  Spoon           0.753          0.920          -1.715         0              270            0              49
  12  SoapBottle      -2.065         0.950          0.435          0              90             0              84
  13  SoapBottle      0.753          0.918          -1.516         0              270            0              49
  14  Tomato          -2.222         0.560          -1.763         0              0              0              81
  15  Tomato          -0.361         0.119          0.482          0              90             0              80
  16  Bowl            -0.359         0.911          -1.654         0              0              0              51
  17  SaltShaker      -2.065         0.948          0.165          0              90             0              84
  18  PepperShaker    0.394          0.104          -1.584         0              180            0              48
  19  PepperShaker    1.601          0.908          0.292          0              0              0              66
  20  Lettuce         -2.047         0.871          -1.763         0              0              0              81
  21  Lettuce         -1.791         1.042          0.614          0              90             0              84
  22  Bread           1.299          0.978          -1.532         0              0              0              51
  23  Knife           0.035          0.937          0.292          0              0              0              50
  24  Fork            -2.614         0.952          0.435          0              90             0              84
  25  Bowl            1.846          0.911          0.623          0              0              0              66
  26  Kettle          -0.055         0.9            0.643          0              0              0              50
  27  Cup             -2.340         0.950          0.704          0              90             0              84
  28  Tomato          1.846          0.961          0.209          0              0              0              66
  29  SoapBottle      -0.267         0.910          -1.903         0              0              0              51
  30  Plate           -0.110         0.900          -1.596         0              0              0              51
  31  Pot             1.007          0.962          0.561          0              270            0              53
  32  Spatula         -2.065         0.967          0.165          0              90             0              84
  33  PaperTowelRoll  0.300          1.016          0.209          0              0              0              50
  34  Egg             -1.791         0.987          0.165          0              90             0              84
  35  Lettuce         1.535          1.002          -1.820         0              0              0              51
  36  SaltShaker      -2.614         0.948          0.614          0              90             0              84
  37  PepperShaker    -2.614         0.948          0.165          0              90             0              84
  38  Apple           -2.477         1.019          0.435          0              90             0              84
  39  ButterKnife     -2.065         0.952          0.614          0              90             0              84
  40  Potato          -2.340         0.982          0.345          0              90             0              84
  41  Pan             1.022          0.959          0.288          0              219.190        0              63
  42  DishSponge      1.903          0.911          -1.571         0              0              0              51
  43  Spoon           0.701          0.920          -1.582         0              270            0              49
  44  Mug             0.306          0.771          -1.745         0              90             0              74
  45  Cabinet         -0.193         1.688          -1.648         0              180            0
  46  StoveBurner     1.360          0.957          0.293          0              180            0
  47  Drawer          0.499          0.792          0.296          0              0              0
  48  Cabinet         0.095          0.400          -1.352         0              180            0
  49  Sink            0.711          0.817          -1.772         0              270            0
  50  CounterTop      0.280          0.947          0.458          0              0              0
  51  CounterTop      -0.680         0.947          -1.654         0              0              0
  52  Drawer          1.825          0.792          0.296          0              0              0
  53  StoveBurner     1.007          0.957          0.561          0              270            0
  54  Drawer          -0.150         0.792          -1.496         0              0              0
  55  Drawer          -0.586         0.792          -1.496         0              0              0
  56  StoveBurner     1.360          0.957          0.561          0              270            0
  57  Drawer          0.024          0.792          0.296          0              0              0
  58  Cabinet         1.079          0.400          -1.349         0              180            0
  59  Cabinet         1.669          0.402          0.151          0              0              0
  60  Cabinet         0.055          0.402          -1.351         0              0              0
  61  Cabinet         -0.180         0.402          0.151          0              0              0
  62  Cabinet         0.729          0.402          0.151          0              0              0
  63  StoveBurner     1.007          0.957          0.293          0              180            0
  64  Drawer          -1.100         0.792          -1.496         0              0              0
  65  Cabinet         -0.396         0.402          -1.351         0              0              0
  66  CounterTop      1.776          0.947          0.458          0              0              0
  67  Cabinet         1.974          1.688          -1.648         0              180            0
  68  Cabinet         -0.820         0.400          -1.349         0              180            0
  69  Toaster         0.305          0.900          0.552          0              180            0
  70  LightSwitch     -2.756         1.307          -0.987         0              90             0
  71  Window          0.582          1.613          -1.967         90             0              0
  72  Window          1.969          1.5            -0.615         90             270            0
  73  Microwave       -1.037         0.900          -1.723         0              0              0
  74  SinkBasin       0.377          0.765          -1.655         0              270            0
  75  CoffeeMachine   0.618          0.900          0.600          0              180            0
  76  StoveKnob       1.246          0.913          0.118          45             180            0
  77  StoveKnob       1.373          0.913          0.118          45             180            0
  78  StoveKnob       0.995          0.913          0.118          45             180            0
  79  StoveKnob       1.126          0.913          0.118          45             180            0
  80  GarbageCan      -0.368         -0.029         0.539          0              90             0
  81  Fridge          -2.134         0.0            -1.690         0              0              0
  82  Faucet          0.549          1.046          -1.833         0              232.527        0
  83  Stool           -1.475         0.000          0.414          1.233          280.375        0
  84  DiningTable     -2.255         -0.004         0.432          0              0              0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Walk forward across the room then turn right to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the right to face the bread on the counter. | STEP 4: Cut the bread on the counter into slices. | STEP 5: Turn around and face the right most cabinet under the counter. | STEP 6: Place the knife in the bottom right cabinet under the counter. | STEP 7: Turn around to face the bread on the counter. | STEP 8: Pick up a slice from the bread on the counter. | STEP 9: Turn right and walk to the end of the counter and face the microwave on the left. | STEP 10: Heat the bread slice in the microwave and remove it. | STEP 11: Turn around and walk forward to face the counter with paper towels on it. | STEP 12: Place the bread slice on the counter to the left of the paper towels. | END