Task: Slice bread, heat bread, move knife and bread to counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          2.5            0              180            0
   1  Potato          1.199          0.941          -0.729         0              0              0              58
   2  Potato          1.199          0.941          -1.965         0              0              0              63
   3  CreditCard      0.794          0.491          -0.648         0              270            0              61
   4  DishSponge      -0.912         0.176          0.543          0              180            0              77
   5  DishSponge      1.194          1.665          -1.961         0              270            0              56
   6  Glassbottle     -1.467         0.554          2.667          0              0              0              83
   7  Glassbottle     1.102          1.667          -0.337         0              270            0              66
   8  Fork            0.794          0.495          -0.731         0              180            0              61
   9  Spoon           -0.846         0.934          -1.540         0              0              0              57
  10  Spoon           0.859          0.912          -0.555         0              0              0              58
  11  Knife           0.944          0.934          -0.208         0              90             0              58
  12  Knife           -0.550         0.957          -0.143         0              0              0              57
  13  Plate           1.114          0.914          -0.381         0              0              0              58
  14  SoapBottle      -1.054         0.179          0.576          0              180            0              77
  15  SoapBottle      1.126          2.208          -1.299         0              270            0              64
  16  Bowl            1.147          1.669          0.216          0              270            0              65
  17  Bowl            -0.642         0.783          -0.832         0              90             0              78
  18  SaltShaker      1.009          1.662          -0.038         0              270            0              65
  19  Lettuce         -1.167         1.010          -0.905         0              0              0              57
  20  Lettuce         1.114          0.988          -0.034         0              0              0              58
  21  Mug             0.965          1.396          1.444          0              270            0              80
  22  Apple           0.966          1.185          1.254          0              270            0              80
  23  Statue          -1.292         0.936          -1.167         0              0              0              57
  24  Glassbottle     1.194          1.667          -0.593         0              270            0              66
  25  Bread           -0.778         0.996          0.210          0              258.660        0              57
  26  CreditCard      0.915          0.492          -0.648         0              270            0              61
  27  CellPhone       -1.229         0.930          0.144          0              0              0              57
  28  Potato          0.844          1.432          0.967          0              270            0              80
  29  Knife           0.868          0.700          -0.600         90             315            0              55
  30  Fork            -0.550         0.921          0.239          0              0              0              57
  31  Pan             0.842          0.950          -1.504         0              0              0              54
  32  Lettuce         -1.355         1.010          0.144          0              0              0              57
  33  Plate           -0.772         0.936          -1.308         0              0              0              57
  34  Apple           -0.912         0.227          0.641          0              180            0              77
  35  Pot             -1.221         0.92           -0.49          0              0              0              57
  36  Spatula         -0.753         0.795          -0.573         0              180            0              78
  37  PaperTowelRoll  -0.818         0.283          0.608          0              270            0              77
  38  Tomato          0.688          0.952          -2.051         0              0              0              63
  39  Egg             1.028          1.821          -1.236         0              270            0              79
  40  SaltShaker      -1.363         0.550          2.563          0              0              0              83
  41  PepperShaker    0.688          0.907          -0.381         0              0              0              58
  42  Vase            -1.878         0.881          2.719          0              0              0              84
  43  ButterKnife     -0.697         0.776          -0.745         0              90             0              78
  44  SoapBottle      0.859          0.911          -0.034         0              0              0              58
  45  Vase            0.861          0.109          -2.052         0              0              0              62
  46  Bowl            1.148          1.669          -2.166         0              270            0              56
  47  DishSponge      -1.571         0.881          2.692          0              0              0              83
  48  Spoon           -0.642         0.781          -0.745         0              90             0              78
  49  Cup             -0.772         0.930          -1.154         0              0              0              57
  50  Mug             0.773          0.906          -0.729         0              0              0              58
  51  StoveBurner     0.842          0.919          -1.098         0              0              0
  52  Cabinet         0.648          0.474          0.244          0              270            0
  53  StoveBurner     1.077          0.919          -1.504         0              0              0
  54  StoveBurner     0.842          0.919          -1.504         0              0              0
  55  Drawer          0.637          0.755          -0.649         0              270            0
  56  Cabinet         0.949          2.159          -2.375         0              270            0
  57  CounterTop      -1.238         0.968          -0.643         0              0              0
  58  CounterTop      0.931          0.946          -0.208         0              0              0
  59  StoveBurner     1.077          0.919          -1.098         0              0              0
  60  Drawer          0.637          0.268          -0.649         0              270            0
  61  Drawer          0.637          0.547          -0.649         0              270            0
  62  Cabinet         0.648          0.475          -1.714         0              0              0
  63  CounterTop      0.931          0.946          -2.051         0              0              0
  64  Cabinet         0.948          2.439          -1.780         0              270            0
  65  Cabinet         0.948          2.159          -0.140         0              270            0
  66  Cabinet         0.949          2.159          -0.758         0              270            0
  67  Sink            -0.699         0.927          -0.649         0              0              0
  68  LightSwitch     -2.371         1.218          3.049          0              180            0
  69  StoveKnob       0.673          0.899          -1.373         315            90             180
  70  StoveKnob       0.673          0.899          -1.519         315            90             180
  71  StoveKnob       0.673          0.899          -1.086         315            90             180
  72  StoveKnob       0.673          0.899          -1.237         315            90             180
  73  Toaster         0.984          0.900          0.329          0              270            0
  74  Window          0.014          0.998          -2.640         90             0              0
  75  Window          -2.996         0.998          -2.640         90             0              0
  76  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  77  GarbageCan      -0.946         -0.036         0.575          0              180            0
  78  SinkBasin       -0.698         0.765          -0.647         0              90             0
  79  Microwave       1.042          1.680          -1.295         0              270            0
  80  Fridge          0.966          0.0            1.253          0              0              0
  81  HousePlant      -1.354         0.919          -1.540         0              0              0
  82  Shelf           -1.635         0.172          2.715          0              180            0
  83  Shelf           -1.635         0.552          2.715          0              180            0
  84  Shelf           -1.635         0.880          2.715          0              180            0
  85  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  86  Chair           -1.832         0.002          -0.034         0              119.999        0
  87  Chair           -1.854         0.002          -0.956         0              67.887         0
  88  Faucet          -0.867         1.161          -0.651         0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Proceed ahead to sink. | STEP 2: Turn to sink, pick up knife between sink and bread. | STEP 3: Turn right, proceed to end of counter.  Turn left, turn to face counter.   | STEP 4: Slice bread on counter with knife. | STEP 5: Go around counter, proceed to left to wall, turn left to face counter with tomato on it. | STEP 6: Place knife on counter behind tomato and in front of coffee maker. | STEP 7: Turn left, proceed to end of counter on left.  Turn left to face garbage can. | STEP 8: Turn left to face garbage can.  Pick up left end of sliced bread. | STEP 9: Proceed around counter, turn left at stove.  Turn left to face stove. | STEP 10: Open microwave, place bread in microwave in front of egg, close microwave. Wait five seconds, remove bread from microwave. | STEP 11: Turn right, proceed to counter, turn left to face counter. | STEP 12: Place bread on counter in front of knife and to the left of tomato. | END