Task: Place chilled slice of bread 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           -0.75          0.900          3.0            0              0              0
   1  DishSponge      0.781          0.125          2.454          0              0              0              52
   2  DishSponge      -2.147         0.126          3.750          0              0              0              71
   3  Pot             0.913          0.850          1.375          0              0              0              44
   4  Spoon           0.725          0.812          0.984          0              0              0              45
   5  Spoon           -1.415         0.698          3.774          0              90             0              80
   6  Plate           -1.255         1.687          3.897          0              0              0              73
   7  Cup             -1.317         0.900          1.143          0              90             0              86
   8  Knife           0.950          0.846          2.285          0              180            0              50
   9  Knife           -0.789         0.923          1.246          0              180            0              86
  10  SoapBottle      -1.053         0.900          1.349          0              90             0              86
  11  SoapBottle      -0.921         0.900          1.349          0              90             0              86
  12  Bowl            -2.694         1.189          2.221          0              90             0              77
  13  PepperShaker    -1.697         1.679          4.014          0              0              0              73
  14  SaltShaker      -0.789         0.896          1.555          0              90             0              86
  15  Lettuce         -2.519         1.266          2.389          0              90             0              77
  16  Lettuce         -1.185         0.976          1.555          0              90             0              86
  17  Plate           0.859          0.813          0.975          0              0              0              45
  18  Fork            -0.524         0.901          1.452          0              90             0              86
  19  Bread           0.827          0.861          2.449          0              0              0              45
  20  Spatula         1.024          0.838          2.458          0              90             0              50
  21  PaperTowelRoll  1.099          0.927          2.458          0              0              0              50
  22  Potato          0.800          0.866          2.198          0              0              0              50
  23  SoapBottle      -0.524         0.900          1.246          0              90             0              86
  24  Egg             -2.610         1.444          2.221          0              90             0              77
  25  Cup             -2.448         0.718          1.866          0              90             0              77
  26  Pot             0.642          0.850          1.768          0              0              0              72
  27  SaltShaker      0.650          0.819          1.072          0              0              0              45
  28  Pan             -2.667         0.812          3.74           0              137.145        0              68
  29  PepperShaker    -1.243         0.124          3.713          0              0              0              65
  30  ButterKnife     -2.172         0.812          3.552          0              0              0              68
  31  Tomato          -2.779         0.891          3.331          0              0              0              68
  32  DishSponge      -2.580         1.634          2.989          0              0              0              64
  33  Lettuce         -2.461         0.843          2.389          0              90             0              77
  34  Spoon           -0.657         0.901          1.143          0              180            0              86
  35  Apple           0.902          0.085          2.889          0              0              0              79
  36  Knife           1.024          0.846          0.939          0              90             0              45
  37  Mug             -2.694         0.990          2.333          0              90             0              77
  38  Bowl            -2.541         1.632          2.722          0              0              0              58
  39  Drawer          0.729          0.703          2.199          0              0              0
  40  Cabinet         -1.962         1.926          3.733          0              0              0
  41  Cabinet         -2.377         2.014          1.058          0              0              0
  42  Drawer          0.729          0.703          2.532          0              0              0
  43  Cabinet         -2.622         1.925          3.733          0              0              0
  44  StoveBurner     0.913          0.843          1.375          0              0              0
  45  CounterTop      0.864          0.858          0.984          0              0              0
  46  Cabinet         -1.976         1.779          3.734          0              0              0
  47  Cabinet         0.580          0.385          0.819          0              0              0
  48  Cabinet         -2.379         1.408          1.677          0              0              0
  49  Cabinet         -0.419         1.703          3.736          0              0              0
  50  CounterTop      0.864          0.858          2.371          0              0              0
  51  Sink            -1.702         0.726          3.828          0              180            0
  52  Cabinet         0.580          0.385          2.694          0              0              0
  53  Cabinet         -2.379         0.637          1.677          0              0              0
  54  Cabinet         -0.419         0.674          3.736          0              0              0
  55  Cabinet         -2.377         2.014          2.558          0              0              0
  56  Drawer          0.729          0.703          0.980          0              0              0
  57  Drawer          -2.114         0.706          3.657          0              0              0
  58  Cabinet         -2.377         1.691          2.572          0              0              0
  59  Cabinet         -2.951         1.925          3.733          0              0              0
  60  Cabinet         0.580          0.385          2.360          0              0              0
  61  Cabinet         -2.426         0.435          3.421          0              0              0
  62  StoveBurner     0.642          0.843          1.375          0              0              0
  63  Cabinet         -2.377         1.927          1.686          0              0              0
  64  Cabinet         -2.377         2.013          3.177          0              0              0
  65  Cabinet         -1.136         0.385          3.516          0              0              0
  66  StoveBurner     0.913          0.843          1.768          0              0              0
  67  Cabinet         -1.974         0.385          3.516          0              0              0
  68  CounterTop      -2.081         0.858          3.799          0              0              0
  69  Cabinet         -2.426         0.435          3.174          0              0              0
  70  Cabinet         -2.377         2.014          1.693          0              0              0
  71  Cabinet         -1.986         0.385          3.511          0              0              0
  72  StoveBurner     0.642          0.843          1.768          0              0              0
  73  Cabinet         -1.098         1.926          3.729          0              0              0
  74  Microwave       -1.529         1.250          3.881          1.622          180            0
  75  CoffeeMachine   1.000          0.812          2.492          0              270            0
  76  LightSwitch     0.825          1.396          4.082          0              180            0
  77  Fridge          -2.642         0.0            2.134          0              180            0
  78  Window          -1.131         1.673          0.808          90             0              0
  79  GarbageCan      0.931          -0.000         2.918          0              0              0
  80  SinkBasin       -1.601         0.686          3.774          0              0              0
  81  StoveKnob       1.104          1.002          1.886          0              0              70.346
  82  StoveKnob       1.104          1.002          1.733          0              0              70.346
  83  StoveKnob       1.104          1.002          1.321          0              0              70.346
  84  StoveKnob       1.104          1.002          1.481          0              0              70.346
  85  Toaster         -2.247         0.812          3.862          0              180            0
  86  DiningTable     -0.917         -0.000         1.203          0              0              0
  87  Stool           -0.932         0.000          1.404          1.196          21.715         0
  88  Faucet          -1.842         0.809          3.984          0              180            0
  89  Faucet          -1.371         0.809          3.985          0              180            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: go to counter with toaster to the left | STEP 2: pick up knife from in front of toaster | STEP 3: turn left, go to counter to the left of the stove | STEP 4: slice loaf of bread on counter | STEP 5: turn around, go to cabinet under sink on the right | STEP 6: open end cabinet door under sink, place knife in cabinet, close cabinet door | STEP 7: go to the left to counter with bread sliced | STEP 8: pick up bread slice from counter | STEP 9: turn around, go to refrigerator | STEP 10: open refrigerator, place bread on second shelf, close refrigerator, open refrigerator, pick up bread slice, close refrigerator | STEP 11: turn right, go to microwave above sink | STEP 12: place bread slice in microwave, close microwave door | END