Task: Slice bread, heat it up and serve.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.901          1.75           0              90             0
   1  Potato          0.033          0.831          1.217          0              90             0              72
   2  WineBottle      0.423          0.082          2.484          0              0              0              52
   3  ButterKnife     0.524          0.795          2.64           0              90             0              69
   4  Spoon           -0.272         0.792          1.217          0              0              0              72
   5  Spoon           2.304          0.938          1.964          0              90             0              45
   6  Egg             2.071          0.980          0.361          0              0              0              56
   7  Cup             -0.425         0.789          0.713          0              0              0              72
   8  Plate           0.708          0.085          2.523          0              0              0              52
   9  Plate           1.925          0.086          2.128          0              0              0              41
  10  SoapBottle      0.060          0.938          2.897          0              0              0              45
  11  SoapBottle      0.033          0.791          0.881          0              0              0              72
  12  Lettuce         2.000          1.385          -0.097         0              270            0              66
  13  Apple           2.158          0.910          -0.550         0              270            0              66
  14  Egg             1.972          1.561          -0.188         0              270            0              66
  15  Lettuce         -0.042         0.852          0.377          0              0              0              72
  16  Fork            -0.119         0.791          0.377          0              0              0              72
  17  SoapBottle      2.282          1.502          2.010          0              0              0              48
  18  Ladle           -0.041         0.982          2.478          0              0              0              45
  19  Ladle           2.150          0.982          2.162          0              90             0              45
  20  Bread           -0.199         0.823          0.813          0              0              0              72
  21  SaltShaker      -0.349         0.785          0.881          0              0              0              72
  22  Potato          2.168          1.361          -0.188         0              90             0              66
  23  Pan             2.140          0.935          1.504          0              180            0              40
  24  WineBottle      -0.272         0.791          1.386          0              0              0              72
  25  Spatula         -0.272         0.805          1.049          0              0              0              72
  26  Knife           0.072          0.771          2.197          0              270            0              44
  27  Tomato          1.840          0.984          0.657          0              0              0              56
  28  Apple           0.033          0.840          1.049          0              0              0              72
  29  ButterKnife     1.917          0.938          0.435          0              180            0              56
  30  Pot             1.854          0.937          1.497          0              0              0              49
  31  PepperShaker    -0.272         0.785          1.049          0              0              0              72
  32  Cup             2.207          0.600          -0.097         0              270            0              66
  33  DishSponge      2.127          1.503          0.418          0              0              0              43
  34  Plate           -0.312         0.781          0.409          0              0              0              72
  35  Spoon           0.033          0.792          0.377          0              90             0              76
  36  Mug             2.064          0.989          2.462          0              225            0              71
  37  Bowl            1.962          0.079          0.724          0              0              0              42
  38  Cabinet         2.041          2.113          2.618          0              0              0
  39  Cabinet         0.126          0.388          1.774          0              0              0
  40  StoveBurner     2.140          0.929          1.504          0              180            0
  41  Cabinet         1.760          0.388          2.346          0              0              0
  42  Cabinet         1.760          0.388          0.869          0              0              0
  43  Cabinet         2.041          1.810          0.283          0              0              0
  44  Drawer          -0.024         0.774          2.061          0              0              0
  45  CounterTop      1.065          0.973          2.666          0              0              0
  46  Cabinet         1.969          2.113          2.618          0              0              0
  47  StoveBurner     2.140          0.929          1.106          0              0              0
  48  Cabinet         2.041          2.113          1.809          0              0              0
  49  StoveBurner     1.866          0.929          1.504          0              180            0
  50  Cabinet         2.041          2.113          1.766          0              0              0
  51  Cabinet         1.514          0.388          2.360          0              0              0
  52  Cabinet         0.351          0.388          2.360          0              0              0
  53  Cabinet         2.041          1.810          0.872          0              0              0
  54  Drawer          2.167          0.774          0.582          0              0              0
  55  Cabinet         2.041          2.113          0.892          0              0              0
  56  CounterTop      2.060          0.973          0.583          0              0              0
  57  Sink            0.935          0.936          2.646          0              0              0
  58  Curtains        0.964          2.061          2.989          0              0              0
  59  StoveBurner     1.863          0.929          1.106          0              0              0
  60  Drawer          1.911          0.774          2.060          0              0              0
  61  StoveKnob       2.326          1.092          1.610          288.013        90             0
  62  StoveKnob       2.326          1.092          1.460          288.013        90             0
  63  StoveKnob       2.326          1.092          1.210          288.013        90             0
  64  StoveKnob       2.326          1.092          1.050          288.013        90             0
  65  Toaster         2.126          0.926          0.572          0              270            0
  66  Fridge          2.104          0.0            -0.279         0              270            0
  67  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  68  LightSwitch     0.354          1.518          -1.031         0              0              0
  69  SinkBasin       0.903          0.784          2.640          0              0              0
  70  Microwave       -0.310         0.926          2.077          0              90             0
  71  CoffeeMachine   2.084          0.927          2.667          0              225            0
  72  DiningTable     -0.153         -0.000         1.073          0              270            0
  73  Faucet          1.175          0.926          2.950          270            90             0
  74  Faucet          0.686          0.926          2.950          270            90             0
  75  Chair           -0.077         0.002          0.196          0              15.000         0
  76
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn left to face sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn around walk to table turn right to face table. | STEP 4: Slice half of the bread loaf. | STEP 5: Look down at the table.  | STEP 6: Place knife on the bread. | STEP 7: Look straight ahead over the table. | STEP 8: Pick up a slice of bread. | STEP 9: Turn right, walk to microwave, left to face the microwave. | STEP 10: Open microwave, place bread in, close door, heat for 3 seconds, remove bread. | STEP 11: Turn left walk to table, turn right to face table. | STEP 12: Place bread on table next to the spoon. | END