Task: Slice a bread, cool a slice of bread, put it in microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          2.75           0              90             0
   1  DishSponge      -1.317         0.900          1.246          0              90             0              85
   2  ButterKnife     -1.578         0.823          3.556          0              0              0              67
   3  Pot             0.642          0.850          1.375          0              0              0              61
   4  Spoon           0.875          0.824          2.198          0              180            0              49
   5  Spoon           0.725          0.824          1.028          0              0              0              44
   6  Egg             -2.694         1.031          2.277          0              90             0              76
   7  Egg             -2.492         0.859          3.256          0              0              0              67
   8  Cup             -2.448         0.718          1.840          0              90             0              76
   9  Bowl            -2.747         1.396          3.858          0              0              0              58
  10  Bowl            -2.678         1.605          2.221          0              90             0              76
  11  SaltShaker      1.099          0.819          2.545          0              0              0              49
  12  SaltShaker      0.725          0.819          2.198          0              0              0              49
  13  Mug             1.024          0.818          0.984          0              180            0              44
  14  Mug             -1.109         0.940          1.203          0              0              0              85
  15  Apple           0.960          0.085          2.918          0              0              0              78
  16  Plate           -2.463         1.402          3.897          0              0              0              42
  17  Fork            -2.779         0.823          3.331          0              0              0              67
  18  Bread           0.827          0.861          2.449          0              0              0              44
  19  Spatula         -2.374         0.838          3.575          0              0              0              67
  20  PaperTowelRoll  -1.317         1.004          1.452          0              90             0              85
  21  Potato          -1.185         0.943          1.555          0              90             0              85
  22  SoapBottle      -1.317         0.900          1.143          0              90             0              85
  23  Egg             -1.053         0.936          1.349          0              90             0              85
  24  Cup             -0.513         0.159          3.834          0              0              0              64
  25  Pot             0.642          0.850          1.768          0              0              0              71
  26  SaltShaker      0.650          0.819          0.895          0              0              0              44
  27  Pan             -2.667         0.812          3.74           0              137.145        0              67
  28  PepperShaker    1.099          0.819          0.895          0              0              0              44
  29  ButterKnife     -0.789         0.900          1.246          0              90             0              85
  30  Tomato          -2.677         1.476          2.277          0              90             0              76
  31  DishSponge      -0.789         0.900          1.555          0              90             0              85
  32  Lettuce         -2.519         0.843          2.277          0              90             0              76
  33  Spoon           1.025          0.812          2.458          0              0              0              41
  34  Apple           0.650          0.884          2.631          0              0              0              49
  35  Knife           1.099          0.846          2.285          0              270            0              49
  36  Mug             -1.694         1.354          3.868          0              180            0              73
  37  Bowl            -2.502         1.847          1.252          0              0              0              40
  38  Drawer          0.729          0.703          2.199          0              0              0
  39  Cabinet         -1.962         1.926          3.733          0              0              0
  40  Cabinet         -2.377         2.014          1.058          0              0              0
  41  Drawer          0.729          0.703          2.532          0              0              0
  42  Cabinet         -2.622         1.925          3.733          0              0              0
  43  StoveBurner     0.913          0.843          1.375          0              0              0
  44  CounterTop      0.864          0.858          0.984          0              0              0
  45  Cabinet         -1.976         1.779          3.734          0              0              0
  46  Cabinet         0.580          0.385          0.819          0              0              0
  47  Cabinet         -2.379         1.408          1.677          0              0              0
  48  Cabinet         -0.419         1.703          3.736          0              0              0
  49  CounterTop      0.864          0.858          2.371          0              0              0
  50  Sink            -1.702         0.726          3.828          0              180            0
  51  Cabinet         0.580          0.385          2.694          0              0              0
  52  Cabinet         -2.379         0.637          1.677          0              0              0
  53  Cabinet         -0.419         0.674          3.736          0              0              0
  54  Cabinet         -2.377         2.014          2.558          0              0              0
  55  Drawer          0.729          0.703          0.980          0              0              0
  56  Drawer          -2.114         0.706          3.657          0              0              0
  57  Cabinet         -2.377         1.691          2.572          0              0              0
  58  Cabinet         -2.951         1.925          3.733          0              0              0
  59  Cabinet         0.580          0.385          2.360          0              0              0
  60  Cabinet         -2.426         0.435          3.421          0              0              0
  61  StoveBurner     0.642          0.843          1.375          0              0              0
  62  Cabinet         -2.377         1.927          1.686          0              0              0
  63  Cabinet         -2.377         2.013          3.177          0              0              0
  64  Cabinet         -1.136         0.385          3.516          0              0              0
  65  StoveBurner     0.913          0.843          1.768          0              0              0
  66  Cabinet         -1.974         0.385          3.516          0              0              0
  67  CounterTop      -2.081         0.858          3.799          0              0              0
  68  Cabinet         -2.426         0.435          3.174          0              0              0
  69  Cabinet         -2.377         2.014          1.693          0              0              0
  70  Cabinet         -1.986         0.385          3.511          0              0              0
  71  StoveBurner     0.642          0.843          1.768          0              0              0
  72  Cabinet         -1.098         1.926          3.729          0              0              0
  73  Microwave       -1.529         1.250          3.881          1.622          180            0
  74  CoffeeMachine   1.000          0.812          2.492          0              270            0
  75  LightSwitch     0.825          1.396          4.082          0              180            0
  76  Fridge          -2.642         0.0            2.134          0              180            0
  77  Window          -1.131         1.673          0.808          90             0              0
  78  GarbageCan      0.931          -0.000         2.918          0              0              0
  79  SinkBasin       -1.601         0.686          3.774          0              0              0
  80  StoveKnob       1.104          1.002          1.886          0              0              70.346
  81  StoveKnob       1.104          1.002          1.733          0              0              70.346
  82  StoveKnob       1.104          1.002          1.321          0              0              70.346
  83  StoveKnob       1.104          1.002          1.481          0              0              70.346
  84  Toaster         -2.247         0.812          3.862          0              180            0
  85  DiningTable     -0.917         -0.000         1.203          0              0              0
  86  Stool           -0.932         0.000          1.404          1.196          21.715         0
  87  Faucet          -1.842         0.809          3.984          0              180            0
  88  Faucet          -1.371         0.809          3.985          0              180            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn around, go forward, turn right at the sink, go forward | STEP 2: Take the knife in front of the sink | STEP 3: Turn around, go forward a bit, turn left, go forward to the counter | STEP 4: Slice the bread on the counter | STEP 5: Turn around, go forward a bit, turn around | STEP 6: Open the cupboard on the right, put the knife in the cupboard, close the cupboard | STEP 7: Turn right, go forward a bit, turn left go to the counter | STEP 8: Pick up a slice of bread | STEP 9: Turn around, go to the fridge | STEP 10: Open the fridge, put the slice of bread on the fourth shelf, close the fridge, wait, open the fridge, take the slice of bread, close the fridge | STEP 11: Turn around, go a bit forward, turn left and go to the microwave | STEP 12: Open the microwave, put the bread slice in it, close the microwave | END