Task: Warming bread and putting it in the fridge

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.901          -3.25          0              0              0
   1  Potato          -2.809         0.757          -0.640         0              135            0              81
   2  DishSponge      -0.413         0.080          -0.528         0              0              0              41
   3  ButterKnife     -2.765         0.713          -0.395         0              225            0              81
   4  Spatula         -0.471         0.761          -0.912         0              90             0              63
   5  Fork            -1.845         0.791          -3.747         0              0              0              79
   6  Fork            -2.740         0.714          -0.211         0              90             0              81
   7  Knife           -0.530         0.778          -2.913         0              270            0              67
   8  Knife           -0.338         0.948          -1.432         0              0              0              64
   9  SoapBottle      -2.516         1.295          -3.927         0              0              0              50
  10  SoapBottle      -1.058         0.913          -3.729         0              0              0              37
  11  SaltShaker      -3.169         0.742          -2.802         0              0              0              59
  12  PepperShaker    -2.431         0.713          -0.665         0              135            0              81
  13  PepperShaker    -0.412         0.742          -2.858         0              0              0              67
  14  Bread           -3.309         0.954          -2.926         0              0              0              37
  15  Mug             -3.234         0.636          -2.002         0              90             0              78
  16  Pot             -0.165         0.975          -2.450         0              0              0              69
  17  Egg             -3.059         0.922          -2.409         0              90             0              78
  18  Cup             -1.263         0.080          -3.750         0              0              0              52
  19  Bread           -3.066         0.757          -0.697         0              225            0              81
  20  Fork            -0.076         0.914          -2.911         0              0              0              37
  21  Pan             -0.165         0.975          -2.030         0              180            0              68
  22  Potato          -1.914         0.834          -3.661         0              0              0              79
  23  Lettuce         -3.130         1.101          -2.002         0              90             0              78
  24  Tomato          -2.581         0.763          -0.433         0              270            0              81
  25  Apple           -3.309         0.956          -3.227         0              0              0              37
  26  SoapBottle      -3.079         0.713          -0.886         0              225            0              81
  27  Spatula         -2.576         0.728          -0.608         0              315            0              81
  28  SaltShaker      -2.732         1.291          -4.005         0              0              0              50
  29  Knife           -2.803         0.749          -0.922         0              0              0              81
  30  PepperShaker    -2.652         0.713          -0.105         0              225            0              81
  31  ButterKnife     -2.987         0.913          -3.655         0              0              0              37
  32  Plate           -3.182         1.397          -2.125         0              90             0              78
  33  DishSponge      -0.500         0.915          -1.616         0              0              0              64
  34  Spoon           -2.519         0.714          -0.238         0              225            0              81
  35  Mug             -0.189         1.007          -0.752         0              270            0              74
  36  Bowl            -0.373         0.078          -2.853         0              90             0              48
  37  CounterTop      -1.789         0.949          -3.803         0              0              0
  38  Cabinet         -0.577         0.388          -3.476         0              0              0
  39  Cabinet         -0.605         0.388          -3.511         0              0              0
  40  Cabinet         -2.976         0.388          -3.201         0              0              0
  41  Cabinet         -0.577         0.388          -0.447         0              0              0
  42  Cabinet         -0.577         0.388          -1.725         0              0              0
  43  Cabinet         -0.226         1.803          -1.743         0              0              0
  44  Cabinet         -0.228         1.799          -0.447         0              0              0
  45  Cabinet         -6.010         1.139          -6.019         0              0              0
  46  Cabinet         -3.022         2.098          -2.681         0              0              0
  47  Cabinet         -3.022         2.098          -1.743         0              0              0
  48  Cabinet         -0.577         0.388          -2.736         0              0              0
  49  Cabinet         -3.232         1.803          -3.343         0              0              0
  50  Cabinet         -2.811         1.810          -3.764         0              0              0
  51  Cabinet         -1.233         1.810          -3.764         0              0              0
  52  Cabinet         -1.364         0.388          -3.511         0              0              0
  53  Cabinet         -1.380         0.388          -3.511         0              0              0
  54  Cabinet         -0.226         1.803          -2.725         0              0              0
  55  Cabinet         -0.236         2.098          -1.767         0              0              0
  56  Cabinet         -0.236         2.098          -2.705         0              0              0
  57  Cabinet         -0.193         1.210          -4.239         0              0              0
  58  Cabinet         -2.148         0.388          -3.511         0              0              0
  59  Drawer          -3.104         0.797          -2.968         0              0              0
  60  Drawer          -0.449         0.797          -1.410         0              0              0
  61  Sink            -1.786         0.902          -3.748         0              0              0
  62  StoveBurner     -0.376         0.936          -2.451         0              0              0
  63  Drawer          -0.449         0.797          -0.762         0              0              0
  64  CounterTop      -0.268         0.951          -1.089         0              0              0
  65  Drawer          -0.449         0.797          -3.348         0              0              0
  66  StoveBurner     -0.376         0.936          -2.031         0              180            0
  67  Drawer          -0.449         0.797          -2.968         0              0              0
  68  StoveBurner     -0.165         0.936          -2.030         0              180            0
  69  StoveBurner     -0.165         0.936          -2.450         0              0              0
  70  StoveKnob       -0.568         0.903          -2.313         45             270            0
  71  StoveKnob       -0.568         0.903          -2.470         45             270            0
  72  StoveKnob       -0.568         0.903          -2.166         45             270            0
  73  StoveKnob       -0.568         0.903          -2.003         45             270            0
  74  Microwave       -0.143         0.903          -0.908         0              270            0
  75  LightSwitch     -1.108         1.457          0.338          0              180            0
  76  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  77  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  78  Fridge          -3.188         0.0            -2.184         0              0              0
  79  SinkBasin       -1.786         0.779          -3.747         0              0              0
  80  Toaster         -0.230         0.903          -3.406         0              270            0
  81  DiningTable     -2.800         0.003          -0.505         0              0              0
  82  Chair           -3.044         0.003          -1.223         0              32.194         0
  83  Faucet          -1.791         1.136          -3.913         0              270            0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Go straight and turn right towards the counter with the microwave | STEP 2: Pick up the knife to the left of the sponge | STEP 3: Turn around and go in between the table and fridge then turn right towards the table | STEP 4: Slice half of the loaf of bread | STEP 5: Turn right and move to the fridge | STEP 6: Open the fridge doors and put the knife on the shelf under where the lettuce is | STEP 7: Turn around and go back to the table | STEP 8: Pick up a slice of bread | STEP 9: Turn right and go towards the cabinet with the microwave | STEP 10: Open the microwave and place the bread inside, close the microwave, turn it on, wait, open microwave and pull out the bread, close the microwave | STEP 11: Turn around and move to the fridge | STEP 12: Open the fridge, place the bread on the middle shelf, close the fridge door | END