Task: place microwaved bread slice next to loaf of bread on black 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           0.869          -3.25          0              270            0
   1  Potato          -1.719         0.734          -0.983         0              0              0              78
   2  Spoon           0.149          0.901          0.929          0              90             0              68
   3  Spoon           0.841          0.666          0.448          0              0              0              47
   4  Cup             0.676          0.014          0.011          0              0              0              52
   5  Cup             -2.137         0.700          -1.199         0              0              0              78
   6  Knife           0.671          0.782          0.002          0              270            0              41
   7  Knife           -0.051         0.923          1.101          0              0              0              68
   8  Tomato          -0.252         0.949          1.015          0              270            0              68
   9  Tomato          -1.970         0.750          -1.199         0              0              0              78
  10  SaltShaker      0.949          1.460          -0.146         0              0              0              53
  11  SaltShaker      0.149          0.896          1.187          0              270            0              68
  12  Bread           -1.056         0.944          0.843          0              270            0              68
  13  Bread           0.721          0.708          0.508          0              0              0              47
  14  Lettuce         0.746          1.245          -1.958         0              270            0              62
  15  Lettuce         0.785          0.751          -2.035         0              270            0              62
  16  Mug             0.961          0.659          0.569          0              0              0              47
  17  Mug             0.669          1.369          -1.880         0              270            0              62
  18  Apple           0.877          0.937          -0.314         0              0              0              42
  19  Apple           0.708          0.519          -2.113         0              270            0              62
  20  Pot             -2.071         0.927          0.772          0              266.284        0              44
  21  Plate           -2.023         0.692          -1.447         0              0              0              78
  22  Fork            0.720          0.760          -0.061         0              90             0              41
  23  SoapBottle      -1.056         0.899          1.101          0              270            0              68
  24  Apple           -1.297         0.105          -3.574         0              270            0              57
  25  Pan             -1.555         0.930          1.049          0              0              0              51
  26  Egg             0.630          0.809          -0.625         0              270            0              65
  27  Spatula         -1.620         0.715          -3.445         0              90             0              69
  28  Potato          0.950          0.916          -0.108         0              0              0              42
  29  Cup             0.842          0.014          -0.184         0              0              0              52
  30  SaltShaker      -0.855         0.896          0.843          0              270            0              68
  31  PepperShaker    1.040          1.460          0.596          0              0              0              54
  32  ButterKnife     0.754          0.755          -0.743         0              45             0              65
  33  DishSponge      0.841          0.772          -0.625         0              270            0              65
  34  Bread           0.149          0.944          0.843          0              270            0              68
  35  Lettuce         0.715          0.859          -0.735         0              270            0              65
  36  Tomato          0.746          1.207          -2.190         0              270            0              62
  37  Spoon           0.901          0.665          0.569          0              0              0              47
  38  Knife           -0.855         0.923          0.929          0              90             0              68
  39  Mug             -1.803         0.696          -0.983         0              0              0              78
  40  Bowl            -2.038         0.691          -1.003         0              0              0              78
  41  Drawer          0.706          0.766          -0.125         0              0              0
  42  CounterTop      0.792          0.919          -0.108         0              0              0
  43  Mirror          1.093          1.602          -0.643         0              0              0
  44  StoveBurner     -2.096         0.890          0.785          0              0              0
  45  Cabinet         0.507          0.345          -0.426         0              0              0
  46  StoveBurner     -1.552         0.890          0.785          0              0              0
  47  SideTable       0.770          -0.030         0.443          0              0              0
  48  Sink            0.753          0.882          -0.680         0              0              0
  49  StoveBurner     -2.096         0.890          1.049          0              0              0
  50  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  51  StoveBurner     -1.554         0.890          1.049          0              0              0
  52  Cabinet         0.507          0.345          0.156          0              0              0
  53  Cabinet         0.717          1.822          -0.398         0              0              0
  54  Cabinet         0.717          1.822          0.669          0              0              0
  55  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  56  Toaster         -0.522         0.886          1.081          0              180            0
  57  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  58  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  59  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  60  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  61  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  62  Fridge          0.680          -0.031         -1.957         0              0              0
  63  Window          -2.424         1.639          -2.453         90             270            0
  64  Microwave       -1.994         0.690          -3.651         0              0              0
  65  SinkBasin       0.757          0.762          -0.688         0              270            0
  66  LightSwitch     1.102          1.368          -3.737         0              270            0
  67  Shelf           -0.350         0.124          0.857          0              0              0
  68  DiningTable     -0.350         -0.025         0.857          0              0              0
  69  DiningTable     -1.909         -0.032         -3.507         0              0              0
  70  Blinds          -2.343         2.151          -2.437         0              270            0
  71  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  72  AluminumFoil    0.751          0.225          0.287          0              0              0
  73  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  74  Shelf           0.771          0.226          0.445          0              0              0
  75  Shelf           0.771          0.456          0.446          0              0              0
  76  Faucet          1.025          0.873          -0.678         270            180            0
  77  Shelf           -0.350         0.497          0.857          0              0              0
  78  DiningTable     -1.929         -0.035         -1.398         0              90             0
  79  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: turn right, go to white table with toaster | STEP 2: pick up yellow handle knife from table | STEP 3: go to the loaf of bread to the left of salt shaker | STEP 4: slice bread on counter to the left of salt shaker | STEP 5: turn right, go to black table next to counter with loaf of bread | STEP 6: place knife across loaf of bread on black table | STEP 7: turn left, go to loaf of bread on white table | STEP 8: pick up slice of bread from counter | STEP 9: turn around, go to microwave  | STEP 10: open microwave, place bread on plate in microwave, close microwave door, microwave bread slice, open microwave, remove bread slice, close microwave | STEP 11: turn around, go the black table at end of counter on the right | STEP 12: place bread slice on black table to the right of loaf of bread | END