Task: Place a warm piece of bread on the top of the brown shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.900          -2.5           0              180            0
   1  Pan             -0.222         0.961          -2.243         0              0              0              70
   2  Potato          -3.942         0.723          -0.126         0              0              0              86
   3  DishSponge      -2.560         0.894          -0.204         0              270            0              88
   4  ButterKnife     -0.157         0.941          -1.450         0              0              0              69
   5  ButterKnife     -1.248         0.942          -3.595         0              0              0              51
   6  Pot             -3.565         0.895          -0.290         0              270            0              88
   7  Fork            -1.694         0.942          -3.439         0              0              0              51
   8  Fork            -3.163         0.895          -0.548         0              0              0              88
   9  Spoon           -3.364         0.895          -0.462         0              270            0              88
  10  Spoon           -0.543         0.752          -2.846         0              90             0              56
  11  Spatula         -3.373         0.775          -3.545         0              64.125         0              87
  12  Spatula         -0.740         0.828          -3.588         0              45             0              80
  13  Cup             -3.163         0.895          -0.633         0              270            0              88
  14  Plate           -0.465         0.096          -1.489         0              0              0              67
  15  Plate           -0.175         1.951          -1.055         0              0              0              59
  16  Knife           -0.244         0.967          -2.847         0              0              0              51
  17  Knife           -1.694         0.967          -3.751         0              0              0              51
  18  SoapBottle      -3.163         0.892          -0.204         0              270            0              88
  19  SoapBottle      -0.173         1.500          -1.489         0              0              0              62
  20  Tomato          -3.942         0.741          -0.430         0              0              0              86
  21  Bowl            -3.786         0.758          -3.331         0              244.125        0              87
  22  Bowl            -2.761         0.892          -0.633         0              270            0              88
  23  Bread           -3.565         0.976          -0.633         0              270            0              88
  24  PepperShaker    -0.278         1.935          -1.739         0              0              0              60
  25  PepperShaker    -2.560         0.890          -0.462         0              270            0              88
  26  Mug             -4.062         0.686          -0.248         0              0              0              86
  27  Mug             -0.397         1.483          -0.994         0              270            0              81
  28  Apple           -4.182         0.752          -0.430         0              0              0              86
  29  Apple           -4.242         0.751          -0.248         0              0              0              86
  30  SoapBottle      -4.091         0.758          -3.410         0              244.125        0              87
  31  Pot             -0.437         0.961          -1.845         0              180            0              52
  32  Fork            -0.475         0.752          -2.685         0              90             0              56
  33  Cup             -3.305         0.760          -3.684         0              334.125        0              87
  34  Tomato          -3.942         0.741          -0.248         0              0              0              86
  35  Pan             -0.217         0.958          -2.215         0              45             0              70
  36  Plate           -3.772         0.774          -3.757         0              199.125        0              87
  37  Bread           -2.984         0.956          -0.311         0              50.592         0              88
  38  Spatula         -3.468         0.775          -2.882         0              199.125        0              87
  39  Knife           -0.509         0.776          -2.685         0              270            0              56
  40  SaltShaker      -0.318         0.938          -2.937         0              45             0              51
  41  PepperShaker    -0.185         0.938          -3.012         0              45             0              51
  42  ButterKnife     -0.721         0.813          -3.491         0              315            0              80
  43  Apple           -0.334         1.348          -0.413         0              270            0              81
  44  DishSponge      -0.096         1.502          -2.700         0              0              0              61
  45  Potato          -2.560         0.926          -0.633         0              270            0              88
  46  Egg             -0.432         0.854          -3.202         0              315            0              80
  47  Spoon           -0.157         0.942          -1.494         0              0              0              69
  48  Lettuce         -3.665         0.851          -3.515         0              334.125        0              87
  49  Mug             -2.359         0.889          -0.204         0              270            0              88
  50  Bowl            -0.252         1.284          -0.646         0              270            0              81
  51  CounterTop      -1.937         0.977          -3.673         0              0              0
  52  StoveBurner     -0.437         0.924          -1.845         0              180            0
  53  StoveBurner     -0.222         0.924          -1.845         0              180            0
  54  StoveBurner     -0.437         0.924          -2.243         0              0              0
  55  Drawer          -0.500         0.779          -1.450         0              0              0
  56  Drawer          -0.481         0.777          -2.739         0              0              0
  57  Drawer          -1.154         0.782          -3.499         0              0              0
  58  Cabinet         -0.337         2.110          -0.390         0              0              0
  59  Cabinet         -0.337         2.110          -1.272         0              0              0
  60  Cabinet         -0.337         2.110          -1.631         0              0              0
  61  Cabinet         -0.337         2.110          -2.497         0              0              0
  62  Cabinet         -0.337         1.891          -1.286         0              0              0
  63  Cabinet         -0.346         1.891          -3.293         0              0              0
  64  Cabinet         -0.629         0.388          -2.513         0              0              0
  65  Cabinet         -0.633         0.388          -3.008         0              0              0
  66  Cabinet         -1.010         0.388          -3.368         0              0              0
  67  Cabinet         -0.629         0.388          -1.614         0              0              0
  68  Cabinet         -0.327         1.886          -2.513         0              0              0
  69  CounterTop      -0.326         0.976          -1.450         0              0              0
  70  StoveBurner     -0.222         0.924          -2.243         0              0              0
  71  Sink            -0.600         0.929          -3.388         0              0              0
  72  StoveKnob       -0.617         0.899          -1.833         315            90             180
  73  StoveKnob       -0.617         0.899          -2.129         315            90             180
  74  StoveKnob       -0.617         0.899          -2.289         315            90             180
  75  StoveKnob       -0.617         0.899          -1.975         315            90             180
  76  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  77  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  78  Window          -1.389         1.610          -4.113         90             0              0
  79  LightSwitch     -4.372         1.493          -1.031         0              90             0
  80  SinkBasin       -0.614         0.802          -3.384         0              315            0
  81  Fridge          -0.314         0.0            -0.646         0              0              0
  82  Toaster         -1.970         0.930          -3.763         0              0              0
  83  Microwave       -0.216         1.470          -2.054         0              270            0
  84  Blinds          -1.373         2.205          -3.961         0              0              0
  85  Faucet          -0.393         0.930          -3.614         270            225            0
  86  SideTable       -4.030         0.002          -0.301         0              185.034        0
  87  DiningTable     -3.586         0.000          -3.258         0              0              0
  88  DiningTable     -3.224         -0.003         -0.453         0              0              0
  89  Shelf           -4.030         0.259          -0.301         0              185.034        0
  90  Shelf           -4.030         0.489          -0.301         0              185.034        0
  91  EastWall
  92  EastWall
  93  SouthWall

Plan:
STEP 1: turn around and cross the room to the counter between the stove and refrigerator | STEP 2: take the knife from the counter | STEP 3: turn around and cross the room to the door, then turn to the right and head to the rectangular table with the loaves of bread | STEP 4: cut the loaf of bread this located along the long edge of the table | STEP 5: turn around to the left, and head very slightly away from the rectangular table before continuing your rotation to the left until you face the table once more | STEP 6: place the knife on the tomato located on the front right corner of the top of the brown shelf between the rectangular table and the wall | STEP 7: move back closer to the sliced loaf of bread | STEP 8: take a slice of bread | STEP 9: turn around and cross the room to the round table before turning left and cross the room to the stove. Then, look up at the microwave | STEP 10: open the microwave, insert the bread, and close the microwave. Heat the bread in the microwave for 5 seconds, then open the microwave, remove the bread, and close the microwave door. Look back down to your normal elevation | STEP 11: turn around and cross the room to the door, then turn right and go to the brown shelf where you left the knife | STEP 12: put the bread on the center front of the brown shelf, making sure to knock the knife to the floor in the process | END