Task: Microwave a slice of bread and place back on table with knife.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.900          -2.0           0              90             0
   1  Fork            -0.236         0.941          -1.319         0              0              0              57
   2  Spatula         -0.236         0.956          -1.494         0              0              0              57
   3  Spatula         -0.475         0.765          -2.846         0              90             0              44
   4  Egg             -2.359         0.935          -0.633         0              270            0              76
   5  Plate           -3.565         0.908          -0.204         0              270            0              76
   6  Plate           -4.122         0.704          -0.187         0              0              0              74
   7  SoapBottle      -3.553         0.758          -3.506         0              199.125        0              75
   8  Tomato          -0.359         1.539          -0.413         0              270            0              69
   9  Bowl            -0.212         1.500          -3.140         0              0              0              56
  10  Lettuce         -3.460         0.851          -3.048         0              199.125        0              75
  11  Lettuce         -2.560         0.985          -0.462         0              270            0              76
  12  SaltShaker      -4.242         0.687          -0.369         0              0              0              74
  13  PepperShaker    -0.351         0.078          -1.529         0              0              0              55
  14  Mug             -3.662         0.755          -3.632         0              199.125        0              75
  15  Mug             -0.813         0.075          -3.365         0              45             0              53
  16  Apple           -2.452         0.161          -3.538         0              0              0              64
  17  Apple           -0.245         1.550          -0.762         0              270            0              69
  18  SoapBottle      -3.942         0.688          -0.187         0              0              0              74
  19  Pot             -0.437         0.961          -1.845         0              180            0              40
  20  Fork            -1.471         0.942          -3.751         0              0              0              39
  21  Cup             -0.682         0.814          -3.531         0              315            0              68
  22  Tomato          -2.761         0.945          -0.633         0              270            0              76
  23  Pan             -2.962         0.892          -0.204         0              0              0              76
  24  Plate           -3.621         0.774          -3.320         0              109.125        0              75
  25  Bread           -3.925         0.841          -3.399         0              244.125        0              75
  26  Spatula         -0.740         0.828          -3.588         0              45             0              68
  27  Knife           -0.244         0.967          -2.729         0              0              0              39
  28  SaltShaker      -0.972         0.938          -3.816         0              45             0              39
  29  PepperShaker    -2.359         0.890          -0.204         0              270            0              76
  30  ButterKnife     -2.761         0.894          -0.462         0              270            0              76
  31  Apple           -3.364         0.956          -0.204         0              270            0              76
  32  DishSponge      -0.581         0.080          -3.243         0              45             0              53
  33  Potato          -0.376         1.318          -0.645         0              270            0              69
  34  Egg             -0.283         1.529          -0.297         0              270            0              69
  35  Spoon           -2.560         0.895          -0.290         0              270            0              76
  36  Lettuce         -3.942         0.781          -0.369         0              0              0              74
  37  Mug             -4.037         0.755          -3.522         0              244.125        0              75
  38  Bowl            -0.252         1.284          -0.529         0              270            0              69
  39  CounterTop      -1.937         0.977          -3.673         0              0              0
  40  StoveBurner     -0.437         0.924          -1.845         0              180            0
  41  StoveBurner     -0.222         0.924          -1.845         0              180            0
  42  StoveBurner     -0.437         0.924          -2.243         0              0              0
  43  Drawer          -0.500         0.779          -1.450         0              0              0
  44  Drawer          -0.481         0.777          -2.739         0              0              0
  45  Drawer          -1.154         0.782          -3.499         0              0              0
  46  Cabinet         -0.337         2.110          -0.390         0              0              0
  47  Cabinet         -0.337         2.110          -1.272         0              0              0
  48  Cabinet         -0.337         2.110          -1.631         0              0              0
  49  Cabinet         -0.337         2.110          -2.497         0              0              0
  50  Cabinet         -0.337         1.891          -1.286         0              0              0
  51  Cabinet         -0.346         1.891          -3.293         0              0              0
  52  Cabinet         -0.629         0.388          -2.513         0              0              0
  53  Cabinet         -0.633         0.388          -3.008         0              0              0
  54  Cabinet         -1.010         0.388          -3.368         0              0              0
  55  Cabinet         -0.629         0.388          -1.614         0              0              0
  56  Cabinet         -0.327         1.886          -2.513         0              0              0
  57  CounterTop      -0.326         0.976          -1.450         0              0              0
  58  StoveBurner     -0.222         0.924          -2.243         0              0              0
  59  Sink            -0.600         0.929          -3.388         0              0              0
  60  StoveKnob       -0.617         0.899          -1.833         315            90             180
  61  StoveKnob       -0.617         0.899          -2.129         315            90             180
  62  StoveKnob       -0.617         0.899          -2.289         315            90             180
  63  StoveKnob       -0.617         0.899          -1.975         315            90             180
  64  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  65  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  66  Window          -1.389         1.610          -4.113         90             0              0
  67  LightSwitch     -4.372         1.493          -1.031         0              90             0
  68  SinkBasin       -0.614         0.802          -3.384         0              315            0
  69  Fridge          -0.314         0.0            -0.646         0              0              0
  70  Toaster         -1.970         0.930          -3.763         0              0              0
  71  Microwave       -0.216         1.470          -2.054         0              270            0
  72  Blinds          -1.373         2.205          -3.961         0              0              0
  73  Faucet          -0.393         0.930          -3.614         270            225            0
  74  SideTable       -4.030         0.002          -0.301         0              185.034        0
  75  DiningTable     -3.586         0.000          -3.258         0              0              0
  76  DiningTable     -3.224         -0.003         -0.453         0              0              0
  77  Shelf           -4.030         0.259          -0.301         0              185.034        0
  78  Shelf           -4.030         0.489          -0.301         0              185.034        0
  79  EastWall
  80  EastWall
  81  SouthWall

Plan:
STEP 1: Step forward a few steps, turn left, stop at table. | STEP 2: Pick up knife behind tomato on table. | STEP 3: Turn left, walk to wall, turn left, stop at black table. | STEP 4: Slice bread on table. | STEP 5: Turn left, go to black table in corner. | STEP 6: Put knife on table. | STEP 7: Turn around, go back to round table. | STEP 8: Pick up slice of bread. | STEP 9: Turn left, take bread slice to stove. | STEP 10: Put bread in microwave. | STEP 11: Take bread out of microwave, turn left, turn left, go to wall, turn right, stop at corner table. | STEP 12: Set bread on corner table behind knife. | END