Task: Slice bread and warm it up to place on counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          2.0            0              270            0
   1  Pen             1.010          0.913          -0.309         0              0              0              71
   2  Potato          1.332          1.859          2.557          0              270            0              90
   3  Ladle           -2.094         1.700          -1.866         0              90             0              52
   4  ButterKnife     0.852          0.911          -1.619         0              0              0              71
   5  DishSponge      1.401          1.655          -1.106         0              0              0              63
   6  DishSponge      -0.063         0.782          -1.707         0              270            0              92
   7  Fork            1.002          0.773          0.539          0              270            0              48
   8  Spatula         0.936          0.788          0.323          0              90             0              48
   9  Spatula         -0.477         0.926          -1.448         0              0              0              71
  10  Pot             -1.431         0.949          -1.525         0              0              0              79
  11  Egg             0.285          0.948          -1.758         0              270            0              50
  12  Egg             0.927          0.940          -1.331         0              0              0              71
  13  Plate           0.121          1.656          -1.839         0              0              0              61
  14  SoapBottle      0.183          0.919          -1.808         0              270            0              50
  15  Bowl            1.388          1.720          1.775          0              270            0              90
  16  Bowl            1.176          0.911          -1.331         0              0              0              71
  17  PepperShaker    0.710          0.112          -1.585         0              90             0              65
  18  PepperShaker    -2.107         0.106          -1.487         0              0              0              74
  19  SaltShaker      1.520          1.651          -0.736         0              0              0              59
  20  Lettuce         1.426          1.436          2.101          0              270            0              90
  21  Mug             -2.107         0.106          -1.681         0              0              0              74
  22  Tomato          1.343          0.951          -1.672         0              0              0              71
  23  Glassbottle     1.342          1.656          -1.264         0              0              0              63
  24  Knife           0.664          0.941          -1.704         0              0              0              71
  25  Plate           1.401          1.656          -1.500         0              0              0              63
  26  Fork            1.343          0.911          -0.990         0              0              0              71
  27  Ladle           1.343          0.955          -1.331         0              0              0              71
  28  Potato          1.453          1.762          2.026          0              270            0              90
  29  Lettuce         0.526          0.952          -1.566         9.019          143.630        0              71
  30  Kettle          -0.685         0.112          -1.584         0              0              0              58
  31  Pen             -1.765         0.775          -1.500         0              90             0              76
  32  SaltShaker      1.401          1.651          -0.658         0              0              0              59
  33  Cup             -0.116         1.656          -1.876         0              0              0              61
  34  Egg             1.426          1.396          1.725          0              270            0              90
  35  Spatula         0.251          0.934          -1.758         0              90             0              50
  36  Bowl            -0.458         1.656          -1.876         0              0              0              53
  37  SprayBottle     -1.125         1.849          -1.765         0              0              0              51
  38  Pan             -1.081         0.949          -1.81          0              0              0              67
  39  SoapBottle      1.420          0.214          1.08           0              0              0              88
  40  Pot             -1.431         0.949          -1.81          0              0              0              81
  41  ButterKnife     0.149          0.919          -1.708         0              270            0              50
  42  PepperShaker    1.401          1.651          -0.421         0              0              0              59
  43  DishSponge      1.015          0.774          -1.013         0              0              0              49
  44  Bread           1.164          0.975          -0.16          0              300.000        0              71
  45  Apple           1.376          1.402          2.476          0              270            0              90
  46  Spoon           0.641          0.775          -1.533         0              0              0              75
  47  Mug             1.356          1.715          2.026          0              270            0              90
  48  Drawer          0.860          0.75           0.430          0              0              0
  49  Drawer          0.871          0.75           -1.134         0              0              0
  50  Sink            0.156          0.817          -1.801         0              270            0
  51  Cabinet         -0.868         2.005          -1.690         0              0              0
  52  Cabinet         -1.661         2.059          -1.684         0              90             0
  53  Cabinet         -0.817         2.059          -1.689         0              0              0
  54  Cabinet         0.860          0.402          0.665          0              0              0
  55  Cabinet         0.860          0.402          -0.552         0              0              0
  56  Cabinet         0.860          0.402          -1.365         0              0              0
  57  Cabinet         -0.244         0.402          -1.389         0              0              0
  58  Cabinet         -0.815         0.402          -1.389         0              0              0
  59  Cabinet         1.159          2.059          -0.334         0              0              0
  60  Cabinet         0.488          2.059          -1.689         0              0              0
  61  Cabinet         -0.193         2.059          -1.689         0              0              0
  62  Drawer          0.860          0.75           -0.699         0              0              0
  63  Cabinet         1.159          2.059          -1.019         0              0              0
  64  Cabinet         -1.611         2.005          -1.690         0              0              0
  65  Cabinet         0.832          0.401          -1.393         0              90             0
  66  Drawer          -2.105         0.75           -1.389         0              0              0
  67  StoveBurner     -1.081         0.941          -1.809         0              0              0
  68  Cabinet         -0.202         0.401          -1.391         0              90             0
  69  CounterTop      -1.973         0.945          -1.707         0              0              0
  70  Drawer          -0.375         0.75           -1.389         0              0              0
  71  CounterTop      1.164          0.946          -0.649         0              0              0
  72  StoveBurner     -1.081         0.941          -1.527         0              0              0
  73  CounterTop      -2.096         0.945          0.291          0              0              0
  74  Cabinet         -2.237         0.402          -1.389         0              0              0
  75  Drawer          0.584          0.75           -1.389         0              0              0
  76  Drawer          -1.795         0.75           -1.389         0              0              0
  77  CounterTop      1.5            1.197          -0.654         0              0              0
  78  Cabinet         -1.667         0.402          -1.389         0              0              0
  79  StoveBurner     -1.430         0.941          -1.525         0              0              0
  80  Drawer          -0.685         0.75           -1.389         0              0              0
  81  StoveBurner     -1.430         0.941          -1.809         0              0              0
  82  LightSwitch     -2.539         1.289          2.568          0              90             0
  83  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  84  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  85  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  86  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  87  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  88  GarbageCan      1.343          0.015          1.041          0              0              0
  89  HousePlant      1.440          1.153          0.593          0              0              0
  90  Fridge          1.417          0.0            2.101          0              0              0
  91  Window          -0.486         1.452          3.302          90             0              0
  92  SinkBasin       -0.063         0.765          -1.713         0              270            0
  93  Microwave       1.422          1.150          0.022          0              270            0
  94  Toaster         -2.066         0.900          -1.848         0              0              0
  95  Stool           -1.994         0.010          0.882          0              0              0
  96  Faucet          -0.096         1.041          -1.867         0              270            0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn and go to the counter to the left of the sink. | STEP 2: Pick up the knife that is behind the lettuce on the counter. | STEP 3: With the knife in hand go to the dishwasher. | STEP 4: Slice half the loaf of bread that is on the counter. | STEP 5: Move to the microwave. | STEP 6: Open the door. Place the knife in the microwave and close the door. | STEP 7: Turn and go the the bread that is sliced on the counter to your right. | STEP 8: Pick up the middle slice of bread. | STEP 9: With the slice of bread in hand move to your left in front of the microwave. | STEP 10: Open the microwave. Place the slice of bread behind the knife on the right side.  Close door and star microwave. When finished open door and grab slice of bread. | STEP 11: With the slice of bread in your hand Turn right and go straight to where the lettuce is on the counter.  Turn left to face counter. | STEP 12: Place the slice of bread on the back counter shelf standing up right behind the fork. | END