Task: Putting a slice of bread on the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.900          2.5            0              0              0
   1  Statue          -1.292         0.936          -1.167         0              0              0              59
   2  CellPhone       0.688          0.908          -0.729         0              0              0              60
   3  DishSponge      0.688          0.910          0.313          0              0              0              60
   4  DishSponge      -0.697         0.780          -0.832         0              90             0              80
   5  ButterKnife     -0.772         0.933          0.315          0              0              0              59
   6  Glassbottle     0.861          0.109          -2.052         0              0              0              64
   7  Glassbottle     1.039          2.208          -1.082         0              270            0              66
   8  Fork            0.794          0.702          -0.731         0              180            0              57
   9  Spoon           -0.772         0.934          -0.143         0              0              0              59
  10  Knife           -0.550         0.957          0.086          0              0              0              59
  11  Knife           1.029          0.934          -0.208         0              0              0              60
  12  Egg             -1.101         0.214          0.510          0              180            0              79
  13  Cup             -0.808         0.773          -0.832         0              90             0              80
  14  Cup             -0.624         0.930          -1.154         0              0              0              59
  15  Plate           0.844          1.138          1.349          0              270            0              82
  16  Tomato          -0.772         0.974          0.086          0              0              0              59
  17  Tomato          -0.865         0.219          0.608          0              180            0              79
  18  SoapBottle      -1.054         0.179          0.608          0              180            0              79
  19  SaltShaker      1.101          1.662          -2.097         0              270            0              58
  20  Bread           0.966          1.482          1.158          0              270            0              82
  21  Bread           -1.355         1.014          -0.905         0              0              0              59
  22  Mug             0.859          0.906          -0.381         0              0              0              60
  23  Mug             0.903          0.942          -2.110         0              300.131        0              78
  24  Apple           0.688          0.961          -1.879         0              0              0              65
  25  Statue          -1.229         0.936          -0.380         0              0              0              59
  26  Glassbottle     1.169          2.208          -1.517         0              270            0              66
  27  Bread           1.114          0.992          -0.208         0              0              0              60
  28  CreditCard      0.794          0.492          -0.731         0              270            0              63
  29  CellPhone       -0.477         0.930          -1.463         0              0              0              59
  30  Potato          -0.698         0.807          -0.400         0              90             0              80
  31  Knife           0.773          0.934          -1.879         0              270            0              65
  32  Fork            0.874          0.154          -0.531         0              0              0              62
  33  Pan             0.966          0.860          1.349          0              0              0              82
  34  Lettuce         0.773          0.988          -0.555         0              180            0              60
  35  Plate           0.966          1.405          1.349          0              270            0              82
  36  Apple           0.783          1.693          0.967          0              270            0              82
  37  Pot             1.077          0.950          -1.504         0              0              0              55
  38  Spatula         -0.642         0.795          -0.486         0              0              0              80
  39  PaperTowelRoll  -1.674         0.986          2.665          0              0              0              86
  40  Tomato          0.966          1.175          0.967          0              270            0              82
  41  Egg             -0.818         0.214          0.510          0              180            0              79
  42  SaltShaker      0.753          0.150          -0.650         0              270            0              62
  43  PepperShaker    0.754          0.699          -0.524         0              270            0              57
  44  Vase            1.102          1.666          -0.593         0              270            0              68
  45  ButterKnife     -0.772         0.933          -1.308         0              0              0              59
  46  SoapBottle      0.862          0.121          0.374          0              270            0              54
  47  Vase            -1.355         0.934          -0.118         0              0              0              59
  48  Bowl            -1.467         0.557          2.615          0              0              0              85
  49  DishSponge      -1.467         0.553          2.822          0              0              0              85
  50  Spoon           -0.772         0.934          -1.154         0              0              0              80
  51  Cup             0.711          0.105          -1.972         0              0              0              64
  52  Mug             1.060          1.790          -1.132         0              270            0              81
  53  StoveBurner     0.842          0.919          -1.098         0              0              0
  54  Cabinet         0.648          0.474          0.244          0              270            0
  55  StoveBurner     1.077          0.919          -1.504         0              0              0
  56  StoveBurner     0.842          0.919          -1.504         0              0              0
  57  Drawer          0.637          0.755          -0.649         0              270            0
  58  Cabinet         0.949          2.159          -2.375         0              270            0
  59  CounterTop      -1.238         0.968          -0.643         0              0              0
  60  CounterTop      0.931          0.946          -0.208         0              0              0
  61  StoveBurner     1.077          0.919          -1.098         0              0              0
  62  Drawer          0.637          0.268          -0.649         0              270            0
  63  Drawer          0.637          0.547          -0.649         0              270            0
  64  Cabinet         0.648          0.475          -1.714         0              0              0
  65  CounterTop      0.931          0.946          -2.051         0              0              0
  66  Cabinet         0.948          2.439          -1.780         0              270            0
  67  Cabinet         0.948          2.159          -0.140         0              270            0
  68  Cabinet         0.949          2.159          -0.758         0              270            0
  69  Sink            -0.699         0.927          -0.649         0              0              0
  70  LightSwitch     -2.371         1.218          3.049          0              180            0
  71  StoveKnob       0.673          0.899          -1.373         315            90             180
  72  StoveKnob       0.673          0.899          -1.519         315            90             180
  73  StoveKnob       0.673          0.899          -1.086         315            90             180
  74  StoveKnob       0.673          0.899          -1.237         315            90             180
  75  Toaster         0.984          0.900          0.329          0              270            0
  76  Window          0.014          0.998          -2.640         90             0              0
  77  Window          -2.996         0.998          -2.640         90             0              0
  78  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  79  GarbageCan      -0.946         -0.036         0.575          0              180            0
  80  SinkBasin       -0.698         0.765          -0.647         0              90             0
  81  Microwave       1.042          1.680          -1.295         0              270            0
  82  Fridge          0.966          0.0            1.253          0              0              0
  83  HousePlant      -1.354         0.919          -1.540         0              0              0
  84  Shelf           -1.635         0.172          2.715          0              180            0
  85  Shelf           -1.635         0.552          2.715          0              180            0
  86  Shelf           -1.635         0.880          2.715          0              180            0
  87  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  88  Chair           -1.832         0.002          -0.034         0              119.999        0
  89  Chair           -1.854         0.002          -0.956         0              67.887         0
  90  Faucet          -0.867         1.161          -0.651         0              0              0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn around and go to the counter to the right of the fridge | STEP 2: Grab the loaf of bread off of the counter | STEP 3: Look down at the counter | STEP 4: Put the bread down on the counter | STEP 5: Grab the knife off of the counter | STEP 6: Cut the bread on the counter into slices | STEP 7: Put the knife on the counter | STEP 8: Grab a slice of bread | STEP 9: Turn right and stop at the microwave | STEP 10: Heat the bread in the microwave and then take it out | STEP 11: Turn right and stop at the counter | STEP 12: Place the bread on the counter | END