Task: Place a slice of heated bread next to the coffee mug on the kitchen table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.900          1.5            0              0              0
   1  Pan             1.328          0.957          -1.420         0              180            0              56
   2  Book            -2.525         0.871          3.565          0              225            0              54
   3  Book            -0.999         1.651          -1.712         0              0              0              64
   4  Kettle          -2.152         0.879          3.073          0              270            0              54
   5  Kettle          0.974          0.957          -1.688         0              180            0              51
   6  Spatula         0.069          0.945          -1.646         0              90             0              49
   7  Pot             1.328          0.957          -1.688         0              180            0              55
   8  Spoon           -1.738         0.913          -0.614         0              0              0              67
   9  Spoon           -2.048         0.719          -1.510         0              90             0              71
  10  Plate           0.617          0.916          -1.776         0              0              0              52
  11  Tomato          -0.871         0.240          2.058          0              90             0              82
  12  Tomato          -2.072         0.959          -0.614         0              0              0              52
  13  Bowl            -2.367         0.872          3.408          0              225            0              54
  14  SaltShaker      -1.961         0.908          -0.939         0              0              0              52
  15  PepperShaker    3.586          0.549          1.656          0              270            0              75
  16  PepperShaker    -1.516         0.908          0.037          0              0              0              52
  17  Bread           -1.516         0.995          0.363          0              0              0              52
  18  Lettuce         -0.149         1.637          2.040          0              180            0              77
  19  Mug             -2.996         0.869          3.370          0              270            0              54
  20  Book            -1.94          0.900          -1.693         0              0              0              71
  21  Fork            -0.723         0.912          -1.267         0              0              0              52
  22  Tomato          -1.378         0.959          -1.674         0              0              0              52
  23  Egg             -0.377         0.828          1.966          0              180            0              77
  24  Kettle          0.633          0.117          -1.370         0              0              0              59
  25  Vase            3.671          0.168          1.841          0              0              0              75
  26  Cup             0.307          0.801          2.080          0              180            0              77
  27  WineBottle      -1.849         0.913          -0.939         0              0              0              52
  28  Plate           -2.584         0.878          2.715          0              0              0              54
  29  Spatula         -1.649         0.732          -0.788         0              270            0              67
  30  Potato          0.234          0.965          -1.429         0              270            0              49
  31  Pot             0.974          0.957          -1.419         0              180            0              70
  32  Knife           0.069          0.950          -1.790         0              180            0              49
  33  SaltShaker      3.662          0.877          1.963          0              270            0              73
  34  PepperShaker    0.617          0.908          -1.471         0              0              0              52
  35  Lettuce         -2.501         0.943          3.064          0              225            0              54
  36  ButterKnife     -0.040         0.928          -1.646         0              270            0              49
  37  Bread           -2.793         0.961          3.565          0              135            0              54
  38  Vase            1.648          0.115          -1.450         0              0              0              58
  39  DishSponge      -0.844         0.192          2.213          0              90             0              82
  40  Apple           0.079          0.444          2.054          0              180            0              77
  41  Pan             0.972          0.959          -1.426         0              0              0              70
  42  Spoon           1.760          0.911          -1.618         0              90             0              72
  43  SoapBottle      3.689          0.881          1.861          0              270            0              73
  44  Mug             0.079          1.567          2.160          0              180            0              77
  45  Statue          3.676          0.168          1.410          0              334.521        0              75
  46  Statue          3.668          0.540          1.800          0              0              0              75
  47  Bowl            -2.898         0.872          2.983          0              225            0              54
  48  Cabinet         -2.171         2.009          -1.538         0              0              0
  49  Sink            0.024          0.771          -1.708         0              270            0
  50  Cabinet         1.444          2.259          -1.542         0              0              0
  51  StoveBurner     0.974          0.957          -1.688         0              180            0
  52  CounterTop      -1.866         0.947          -0.614         0              0              0
  53  Cabinet         -2.217         0.373          -1.874         0              0              0
  54  DiningTable     -2.663         0.002          3.208          0              0              0
  55  StoveBurner     1.328          0.957          -1.688         0              180            0
  56  StoveBurner     1.328          0.957          -1.420         0              180            0
  57  Cabinet         -1.478         0.373          -1.235         0              0              0
  58  Cabinet         1.775          0.372          -1.242         0              0              0
  59  Cabinet         0.774          0.372          -1.242         0              0              0
  60  Cabinet         0.375          0.372          -1.242         0              0              0
  61  Cabinet         -0.574         0.372          -1.238         0              0              0
  62  Cabinet         1.775          2.009          -1.542         0              0              0
  63  Cabinet         0.524          2.009          -1.542         0              0              0
  64  Cabinet         -0.714         2.009          -1.542         0              0              0
  65  Cabinet         -1.671         2.009          -1.538         0              0              0
  66  Cabinet         0.854          2.259          -1.542         0              0              0
  67  Drawer          -1.636         0.683          -0.930         0              0              0
  68  Drawer          1.650          0.682          -1.396         0              0              0
  69  Drawer          0.600          0.682          -1.396         0              0              0
  70  StoveBurner     0.974          0.957          -1.419         0              180            0
  71  Drawer          -2.062         0.683          -1.579         0              0              0
  72  CounterTop      1.645          0.945          -1.527         0              0              0
  73  Shelf           3.725          0.880          1.671          0              90             0
  74  LightSwitch     2.830          1.266          -0.748         0              0              0
  75  Shelf           3.726          0.552          1.671          0              90             0
  76  Microwave       1.150          1.655          -1.614         0              0              0
  77  Fridge          -0.035         0.0            2.177          0              180            0
  78  Window          -0.115         1.802          -1.896         90             0              0
  79  Window          -4.009         1.799          0.310          90             90             0
  80  Shelf           3.726          0.172          1.671          0              90             0
  81  SinkBasin       -0.330         0.686          -1.581         0              270            0
  82  GarbageCan      -0.870         -0.001         2.136          0              90             0
  83  StoveKnob       1.089          0.913          -1.243         45             0              0
  84  StoveKnob       1.208          0.913          -1.243         45             0              0
  85  StoveKnob       1.340          0.913          -1.243         45             0              0
  86  StoveKnob       0.961          0.913          -1.243         45             0              0
  87  Toaster         1.637          0.900          -1.673         0              0              0
  88  Chair           -3.505         0.002          3.290          0              105.736        0
  89  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  90  HousePlant      -2.663         0.835          3.209          0              0              0
  91  Faucet          -0.187         0.922          -1.75          0              311.166        0
  92  ShelvingUnit    3.726          0.006          1.671          0              90             0
  93  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  94  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  95  Chair           -2.934         0.002          2.437          0              28.531         0
  96  Chair           -1.698         0.002          3.235          0              245.204        0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Move to the kitchen sink.  | STEP 2: Pick up the knife from the drying rack in the left side of the sink.  | STEP 3: Carry the knife to the kitchen table in the corner of the room.  | STEP 4: Slice the loaf of bread on the table. | STEP 5: Place the knife on the kitchen table. | STEP 6: Pick up a slice of bread from the table.  | STEP 7: Turn and cross the room to stand in front of the stove while carrying the sliced bread.  | STEP 8: Open the microwave above the stove, put the bread inside, turn it on, and remove the bread when it's finished.  | STEP 9: Carry the bread back to the kitchen table.  | STEP 10: Place the bread on the table next to the white mug. | END