Task: Slice a loaf of bread, heat a slice, bring it back to the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.901          -0.75          0              180            0
   1  Pan             -0.376         0.975          -2.451         0              0              0              65
   2  ButterKnife     -0.338         0.916          -0.507         0              0              0              67
   3  Spatula         -2.676         0.728          -0.483         0              315            0              84
   4  Spoon           -2.439         0.714          -0.558         0              270            0              84
   5  Cup             -0.650         0.914          -3.952         0              0              0              40
   6  Cup             -3.338         1.292          -3.032         0              0              0              40
   7  Plate           -3.275         1.866          -2.029         0              0              0              50
   8  Plate           -0.373         0.079          -2.967         0              0              0              51
   9  Tomato          -2.620         0.766          -0.652         0              135            0              84
  10  SoapBottle      -0.076         0.913          -2.811         0              0              0              40
  11  SoapBottle      -2.865         0.713          -0.922         0              0              0              84
  12  Bowl            -1.164         0.077          -3.635         0              0              0              55
  13  Bowl            -3.182         1.396          -1.941         0              90             0              81
  14  PepperShaker    -1.431         0.079          -3.751         0              0              0              56
  15  Lettuce         -3.130         0.729          -2.064         0              90             0              81
  16  Mug             -1.983         0.785          -3.790         0              180            0              82
  17  Apple           -0.419         0.958          -0.507         0              0              0              67
  18  Apple           -0.076         0.956          -2.911         0              0              0              40
  19  Pot             -2.836         0.903          -3.745         0              92.628         0              40
  20  Egg             -1.569         0.826          -3.747         0              0              0              82
  21  Cup             -3.036         0.886          -2.501         0              90             0              81
  22  Bread           -2.990         0.757          -0.638         0              0              0              84
  23  Fork            -1.262         0.914          -3.878         0              0              0              40
  24  Pan             -0.165         0.975          -2.030         0              180            0              71
  25  Potato          -1.707         0.834          -3.832         0              0              0              82
  26  Lettuce         -3.393         1.001          -3.327         0              270            0              40
  27  Tomato          -0.412         0.963          -3.012         0              0              0              40
  28  Apple           -3.182         1.056          -2.125         0              90             0              81
  29  SoapBottle      -0.419         0.915          -1.309         0              0              0              67
  30  Spatula         -3.309         0.928          -2.825         0              0              0              40
  31  SaltShaker      -3.169         0.742          -3.023         0              0              0              62
  32  Knife           -2.449         0.946          -3.729         0              0              0              40
  33  PepperShaker    -2.270         0.910          -3.729         0              0              0              40
  34  ButterKnife     -2.608         0.713          -0.150         0              225            0              84
  35  Plate           -3.292         0.711          -0.558         0              270            0              84
  36  DishSponge      -2.803         0.713          -0.069         0              0              0              84
  37  Spoon           -3.140         0.914          -3.026         0              0              0              40
  38  Mug             -0.650         0.908          -3.729         0              0              0              40
  39  Bowl            -2.652         0.711          -0.886         0              135            0              84
  40  CounterTop      -1.789         0.949          -3.803         0              0              0
  41  Cabinet         -0.577         0.388          -3.476         0              0              0
  42  Cabinet         -0.605         0.388          -3.511         0              0              0
  43  Cabinet         -2.976         0.388          -3.201         0              0              0
  44  Cabinet         -0.577         0.388          -0.447         0              0              0
  45  Cabinet         -0.577         0.388          -1.725         0              0              0
  46  Cabinet         -0.226         1.803          -1.743         0              0              0
  47  Cabinet         -0.228         1.799          -0.447         0              0              0
  48  Cabinet         -6.010         1.139          -6.019         0              0              0
  49  Cabinet         -3.022         2.098          -2.681         0              0              0
  50  Cabinet         -3.022         2.098          -1.743         0              0              0
  51  Cabinet         -0.577         0.388          -2.736         0              0              0
  52  Cabinet         -3.232         1.803          -3.343         0              0              0
  53  Cabinet         -2.811         1.810          -3.764         0              0              0
  54  Cabinet         -1.233         1.810          -3.764         0              0              0
  55  Cabinet         -1.364         0.388          -3.511         0              0              0
  56  Cabinet         -1.380         0.388          -3.511         0              0              0
  57  Cabinet         -0.226         1.803          -2.725         0              0              0
  58  Cabinet         -0.236         2.098          -1.767         0              0              0
  59  Cabinet         -0.236         2.098          -2.705         0              0              0
  60  Cabinet         -0.193         1.210          -4.239         0              0              0
  61  Cabinet         -2.148         0.388          -3.511         0              0              0
  62  Drawer          -3.104         0.797          -2.968         0              0              0
  63  Drawer          -0.449         0.797          -1.410         0              0              0
  64  Sink            -1.786         0.902          -3.748         0              0              0
  65  StoveBurner     -0.376         0.936          -2.451         0              0              0
  66  Drawer          -0.449         0.797          -0.762         0              0              0
  67  CounterTop      -0.268         0.951          -1.089         0              0              0
  68  Drawer          -0.449         0.797          -3.348         0              0              0
  69  StoveBurner     -0.376         0.936          -2.031         0              180            0
  70  Drawer          -0.449         0.797          -2.968         0              0              0
  71  StoveBurner     -0.165         0.936          -2.030         0              180            0
  72  StoveBurner     -0.165         0.936          -2.450         0              0              0
  73  StoveKnob       -0.568         0.903          -2.313         45             270            0
  74  StoveKnob       -0.568         0.903          -2.470         45             270            0
  75  StoveKnob       -0.568         0.903          -2.166         45             270            0
  76  StoveKnob       -0.568         0.903          -2.003         45             270            0
  77  Microwave       -0.143         0.903          -0.908         0              270            0
  78  LightSwitch     -1.108         1.457          0.338          0              180            0
  79  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  80  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  81  Fridge          -3.188         0.0            -2.184         0              0              0
  82  SinkBasin       -1.786         0.779          -3.747         0              0              0
  83  Toaster         -0.230         0.903          -3.406         0              270            0
  84  DiningTable     -2.800         0.003          -0.505         0              0              0
  85  Chair           -3.044         0.003          -1.223         0              32.194         0
  86  Faucet          -1.791         1.136          -3.913         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn to your left and walk to the apple to the left of the microwave. | STEP 2: Pick up the knife under the apple. | STEP 3: Turn to your right and walk in the direction of the sink, hang a right and walk to the round table to the right of the fridge, stand to the right of the chair at the table. | STEP 4: Slice the brown loaf of bread on the table. | STEP 5: Move to your right so that you are standing in front of the gray bottle and the tan bowl. | STEP 6: Place the knife on the loaf of bread. | STEP 7: Move nearer to the chair to your left. | STEP 8: Pick up the end slice of bread nearest you. | STEP 9: Turn right and carry the bread slice to the microwave oven. | STEP 10: Open the microwave door, place the bread to the left of the gray turntable, close the door, turn the microwave on; after cooking open the microwave door, pick up the bread slice, close the door. | STEP 11: Turn around and walk to the round table and stand near the chair. | STEP 12: Place the heated slice of bread on the table next to the end of the loaf of bread closest to you. | END