Task: put a piece of sliced  chilled bread into the  microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          1.75           0              180            0
   1  Pan             1.543          0.909          -0.320         0              90             0              40
   2  Potato          0.732          0.950          1.269          0              90             0              37
   3  Potato          -0.692         1.723          -1.594         0              0              0              64
   4  Ladle           1.806          1.699          -0.050         0              0              0              47
   5  ButterKnife     1.586          0.911          -1.374         0              270            0              41
   6  Spoon           1.726          0.912          -1.545         0              180            0              41
   7  Spatula         0.988          0.925          1.004          0              180            0              37
   8  Knife           0.476          0.943          0.739          0              180            0              37
   9  SoapBottle      1.735          1.631          -0.682         0              0              0              49
  10  Bowl            1.757          0.909          1.180          0              90             0              37
  11  SaltShaker      1.879          1.634          0.599          0              0              0              46
  12  PepperShaker    1.808          1.634          0.263          0              0              0              46
  13  PepperShaker    0.356          0.906          -1.263         0              90             0              41
  14  Apple           -0.790         0.517          -1.412         0              0              0              64
  15  Plate           1.839          0.912          0.467          0              90             0              37
  16  SoapBottle      1.739          0.068          1.588          0              270            0              55
  17  Cup             1.842          1.653          0.045          0              0              0              47
  18  Egg             1.097          0.946          -1.247         0              90             0              41
  19  Fork            1.726          0.911          -1.288         0              180            0              41
  20  Ladle           1.865          0.955          -1.802         0              0              0              41
  21  Apple           -0.216         1.116          -1.357         0              0              0              64
  22  SaltShaker      1.840          1.640          -1.847         0              0              0              51
  23  Pan             1.807          0.909          -0.320         0              180            0              39
  24  Tomato          1.245          0.974          1.269          0              90             0              37
  25  Spatula         1.032          0.775          -1.544         0              270            0              56
  26  Potato          -0.741         1.429          -1.629         0              0              0              64
  27  Knife           1.757          0.943          1.092          0              270            0              37
  28  ButterKnife     0.296          0.9            -1.296         0              14.568         0              41
  29  Bread           1.615          0.977          0.761          0              50.525         0              37
  30  Lettuce         0.856          0.989          1.120          0              270            1.731          37
  31  PepperShaker    1.805          2.132          0.880          0              0              0              45
  32  Pot             1.534          0.908          0.058          0              195.000        0              43
  33  DishSponge      1.800          0.069          1.827          0              270            0              55
  34  Spoon           1.165          0.750          -1.494         0              342.866        0              56
  35  Bowl            1.805          1.652          -0.353         0              0              0              48
  36  Mug             -0.334         1.054          -1.357         0              0              0              64
  37  CounterTop      0.989          0.946          1.016          0              90             0
  38  StoveBurner     1.807          0.907          0.075          0              180            0
  39  StoveBurner     1.807          0.907          -0.320         0              180            0
  40  StoveBurner     1.543          0.907          -0.320         0              90             0
  41  CounterTop      0.989          0.946          -1.516         0              90             0
  42  Sink            1.100          0.906          -1.599         0              0              0
  43  StoveBurner     1.548          0.907          0.075          0              180            0
  44  Cabinet         1.658          2.299          1.313          0              0              0
  45  Cabinet         1.658          2.299          0.686          0              0              0
  46  Cabinet         1.658          2.049          0.673          0              0              0
  47  Cabinet         1.658          2.059          0.193          0              0              0
  48  Cabinet         1.658          2.059          -0.593         0              0              0
  49  Cabinet         1.658          2.049          -0.606         0              0              0
  50  Cabinet         1.658          2.049          -1.206         0              0              0
  51  Cabinet         1.658          2.049          -1.893         0              0              0
  52  Toaster         0.131          0.900          -1.589         0              0              0
  53  Window          -0.372         1.588          3.349          90             0              0
  54  Window          0.782          1.741          -1.893         90             0              0
  55  GarbageCan      1.770          -0.029         1.685          0              270            0
  56  SinkBasin       1.091          0.740          -1.599         0              0              0
  57  StoveKnob       1.364          0.821          0.086          48.421         270            0
  58  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  59  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  60  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  61  Microwave       1.752          0.900          -0.843         0              270            0
  62  LightSwitch     2.0            1.261          3.094          0              270            0
  63  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  64  Fridge          -0.533         0.0            -1.554         0              0              0
  65  Chair           1.068          0.000          1.752          0              191.622        0
  66  Faucet          1.110          1.138          -1.764         0              270            0
  67  Chair           0.357          0.000          1.710          0              178.899        0
  68  NorthWall
  69  EastWall
  70  SouthWall
  71  WestWall

Plan:
STEP 1:  turn and walk to  the counter  with the knife  pick up the knife   | STEP 2:  walk  to the bread on the counter  | STEP 3:  slice the bread  that is on the counter | STEP 4:  walk to the refrigerator   | STEP 5:   put the knife in the refrigerator   | STEP 6:   walk back to the bread | STEP 7:    pick up a slice of bread | STEP 8: walk to the refrigerator | STEP 9:  put the slice of bread into the refrigerator  | STEP 10:  take a slice of bread out of the  refrigerator  | STEP 11: walk to the microwave    | STEP 12: put the bread into the microwave   | END