Task: Slice bread to put in microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          2.5            0              270            0
   1  Potato          -0.657         0.943          1.040          0              90             0              88
   2  Pot             0.642          0.850          1.768          0              0              0              74
   3  Spatula         1.024          0.838          1.072          0              270            0              47
   4  Spoon           1.024          0.824          2.285          0              0              0              52
   5  Spoon           -1.909         0.698          3.774          0              90             0              82
   6  Fork            -0.524         0.901          1.452          0              90             0              88
   7  Cup             -2.524         0.157          1.295          0              0              0              79
   8  Knife           -2.374         0.846          3.873          0              0              0              70
   9  Knife           -1.819         0.846          3.577          0              0              0              70
  10  Tomato          -2.635         0.891          3.331          0              0              0              70
  11  Bowl            -2.694         1.189          2.277          0              90             0              79
  12  Bowl            0.703          0.123          1.020          0              0              0              49
  13  PepperShaker    0.626          0.122          2.277          0              0              0              62
  14  PepperShaker    -0.657         0.896          1.143          0              90             0              88
  15  SaltShaker      -0.789         0.896          1.246          0              90             0              88
  16  Lettuce         0.800          0.898          2.371          0              0              0              52
  17  Mug             1.099          0.818          2.285          0              0              0              52
  18  Apple           0.902          0.085          2.889          0              0              0              81
  19  Plate           -2.136         1.402          3.897          0              0              0              48
  20  Fork            -1.216         0.823          3.545          0              0              0              70
  21  Bread           -1.185         0.953          1.452          0              90             0              88
  22  Spatula         0.875          0.838          0.984          0              0              0              47
  23  PaperTowelRoll  -1.602         0.927          4.012          0              0              0              70
  24  Potato          -1.486         1.402          3.868          0              180            0              76
  25  SoapBottle      -1.343         0.127          3.674          0              0              0              67
  26  Egg             -2.677         1.444          2.109          0              90             0              79
  27  Cup             -1.317         0.900          0.937          0              90             0              88
  28  Pot             -2.636         0.994          2.277          0              90             0              79
  29  SaltShaker      -2.347         1.395          3.976          0              0              0              45
  30  Pan             0.642          0.850          1.375          0              0              0              64
  31  PepperShaker    -0.657         0.896          1.555          0              90             0              88
  32  ButterKnife     -1.578         0.823          3.567          0              0              0              70
  33  Tomato          0.875          0.891          2.631          0              0              0              52
  34  DishSponge      -2.463         1.848          1.452          0              0              0              65
  35  Lettuce         -1.317         0.976          1.143          0              90             0              88
  36  Spoon           -0.921         0.901          1.452          0              90             0              88
  37  Apple           0.650          0.884          2.631          0              0              0              52
  38  Knife           0.950          0.846          2.545          0              180            0              52
  39  Mug             -0.921         0.895          1.349          0              180            0              88
  40  Bowl            -1.767         0.126          3.675          0              0              0              69
  41  Drawer          0.729          0.703          2.199          0              0              0
  42  Cabinet         -1.962         1.926          3.733          0              0              0
  43  Cabinet         -2.377         2.014          1.058          0              0              0
  44  Drawer          0.729          0.703          2.532          0              0              0
  45  Cabinet         -2.622         1.925          3.733          0              0              0
  46  StoveBurner     0.913          0.843          1.375          0              0              0
  47  CounterTop      0.864          0.858          0.984          0              0              0
  48  Cabinet         -1.976         1.779          3.734          0              0              0
  49  Cabinet         0.580          0.385          0.819          0              0              0
  50  Cabinet         -2.379         1.408          1.677          0              0              0
  51  Cabinet         -0.419         1.703          3.736          0              0              0
  52  CounterTop      0.864          0.858          2.371          0              0              0
  53  Sink            -1.702         0.726          3.828          0              180            0
  54  Cabinet         0.580          0.385          2.694          0              0              0
  55  Cabinet         -2.379         0.637          1.677          0              0              0
  56  Cabinet         -0.419         0.674          3.736          0              0              0
  57  Cabinet         -2.377         2.014          2.558          0              0              0
  58  Drawer          0.729          0.703          0.980          0              0              0
  59  Drawer          -2.114         0.706          3.657          0              0              0
  60  Cabinet         -2.377         1.691          2.572          0              0              0
  61  Cabinet         -2.951         1.925          3.733          0              0              0
  62  Cabinet         0.580          0.385          2.360          0              0              0
  63  Cabinet         -2.426         0.435          3.421          0              0              0
  64  StoveBurner     0.642          0.843          1.375          0              0              0
  65  Cabinet         -2.377         1.927          1.686          0              0              0
  66  Cabinet         -2.377         2.013          3.177          0              0              0
  67  Cabinet         -1.136         0.385          3.516          0              0              0
  68  StoveBurner     0.913          0.843          1.768          0              0              0
  69  Cabinet         -1.974         0.385          3.516          0              0              0
  70  CounterTop      -2.081         0.858          3.799          0              0              0
  71  Cabinet         -2.426         0.435          3.174          0              0              0
  72  Cabinet         -2.377         2.014          1.693          0              0              0
  73  Cabinet         -1.986         0.385          3.511          0              0              0
  74  StoveBurner     0.642          0.843          1.768          0              0              0
  75  Cabinet         -1.098         1.926          3.729          0              0              0
  76  Microwave       -1.529         1.250          3.881          1.622          180            0
  77  CoffeeMachine   1.000          0.812          2.492          0              270            0
  78  LightSwitch     0.825          1.396          4.082          0              180            0
  79  Fridge          -2.642         0.0            2.134          0              180            0
  80  Window          -1.131         1.673          0.808          90             0              0
  81  GarbageCan      0.931          -0.000         2.918          0              0              0
  82  SinkBasin       -1.601         0.686          3.774          0              0              0
  83  StoveKnob       1.104          1.002          1.886          0              0              70.346
  84  StoveKnob       1.104          1.002          1.733          0              0              70.346
  85  StoveKnob       1.104          1.002          1.321          0              0              70.346
  86  StoveKnob       1.104          1.002          1.481          0              0              70.346
  87  Toaster         -2.247         0.812          3.862          0              180            0
  88  DiningTable     -0.917         -0.000         1.203          0              0              0
  89  Stool           -0.932         0.000          1.404          1.196          21.715         0
  90  Faucet          -1.842         0.809          3.984          0              180            0
  91  Faucet          -1.371         0.809          3.985          0              180            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn and go to the sink. | STEP 2: Pick up the knife that is in front of the sink on the left side. | STEP 3: Turn all the way around and go to the right side of the white table with the knife. | STEP 4: With the knife slice the bread that is on the table. | STEP 5: With the knife in hand turn and go to the fridge. | STEP 6: While holding the knife open the fridge with other hand.  Place the knife on the second shelf of the fridge. | STEP 7: Turn and go to the right side of the white table. | STEP 8: Pick up a slice of bread that is closest to you. | STEP 9: Turn around with the slice of bread in your hand and go to the fridge. | STEP 10: Open the fridge. Place the bread on the third shelf and shut the fridge door.  Open the fridge door and pick up the bread slice that is on the third shelf.  Shut the door. | STEP 11: Turn with the slice of bread in hand and go to the microwave. | STEP 12: Open the microwave door and place the slice of bread to the left of the object in there.  Shut the microwave door. | END