Task: To cool a bread slice and place it in 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           -1.25          0.900          -0.75          0              270            0
   1  Pan             -2.538         0.910          0.931          0              180            0              70
   2  Pan             0.048          0.910          1.540          0              0              0              42
   3  Potato          0.943          0.947          -1.199         0              45             0              56
   4  Potato          -0.730         0.947          0.870          0              0              0              42
   5  DishSponge      -2.645         1.537          -0.019         0              0              0              65
   6  ButterKnife     -0.471         0.910          0.647          0              0              0              42
   7  Fork            1.599          0.911          -0.768         0              0              0              52
   8  Fork            -2.379         0.774          -0.025         0              90             0              60
   9  Spoon           -2.379         0.774          0.809          0              90             0              47
  10  Spoon           -0.341         0.912          0.423          0              0              0              42
  11  Spatula         -2.287         0.788          1.274          0              90             0              73
  12  Spatula         1.496          0.933          -1.166         0              45             0              56
  13  Cup             -2.530         1.936          -0.465         0              0              0              64
  14  Cup             -2.564         1.535          1.337          0              0              0              55
  15  Tomato          -2.393         1.131          -0.602         0              90             0              74
  16  Tomato          -2.466         0.637          -0.514         0              90             0              74
  17  SoapBottle      -2.564         1.539          1.555          0              0              0              55
  18  Lettuce         -2.289         0.994          0.631          0              0              0              70
  19  Pan             1.691          0.929          0.064          0              0              0              53
  20  Knife           -2.538         0.936          0.031          0              0              0              70
  21  Apple           -2.485         1.362          -0.507         0              90             0              74
  22  Bowl            -2.532         1.297          -0.885         0              90             0              74
  23  Fork            -0.081         0.911          1.764          0              0              0              42
  24  Bread           0.048          0.996          0.647          0              0              0              42
  25  Plate           0.516          1.666          -1.766         0              90             0              49
  26  Egg             -0.341         0.941          1.094          0              0              0              42
  27  Kettle          1.412          0.929          -0.335         0              0              0              43
  28  Potato          1.426          0.947          0.376          0              0              0              51
  29  SaltShaker      -2.347         0.109          0.076          0              0              0              58
  30  Lettuce         -0.341         0.994          0.870          0              0              0              42
  31  Cup             -2.411         1.581          -1.412         0              180            0              69
  32  SoapBottle      -2.289         0.912          1.230          0              0              0              70
  33  Spatula         -0.341         0.925          1.540          0              0              0              42
  34  PaperTowelRoll  1.771          0.289          0.706          0              0              0              81
  35  ButterKnife     1.291          0.920          -1.231         0              225            0              56
  36  PepperShaker    1.808          1.658          -0.622         0              0              0              62
  37  DishSponge      -2.241         0.114          1.267          0              0              0              48
  38  Pot             -2.311         0.105          0.895          0              270            0              68
  39  Spoon           -2.621         0.912          1.230          0              0              0              70
  40  Tomato          -2.559         0.637          -0.693         0              90             0              74
  41  Mug             0.464          0.955          -1.593         0              0              0              52
  42  CounterTop      -0.360         0.946          1.093          0              0              0
  43  StoveBurner     1.412          0.923          -0.335         0              0              0
  44  StoveKnob       1.878          1.093          0.018          287.989        90             0
  45  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  46  Cabinet         -2.446         1.948          2.924          0              0              0
  47  Drawer          -2.276         0.792          0.902          0              0              0
  48  Cabinet         -2.145         0.402          1.578          0              0              0
  49  Cabinet         0.149          2.008          -1.603         0              90             0
  50  StoveBurner     1.691          0.923          -0.335         0              0              0
  51  CounterTop      1.585          0.946          0.405          0              0              0
  52  CounterTop      0.474          0.946          -1.625         0              0              0
  53  StoveBurner     1.691          0.923          0.064          0              0              0
  54  Cabinet         -2.446         1.948          1.687          0              0              0
  55  Cabinet         -2.446         1.948          1.640          0              0              0
  56  Sink            1.381          0.810          -1.271         0              225            0
  57  StoveKnob       1.878          1.093          0.150          287.989        90             0
  58  Cabinet         -2.145         0.402          -0.236         0              0              0
  59  Drawer          -2.276         0.792          0.437          0              0              0
  60  Drawer          -2.276         0.792          -0.027         0              0              0
  61  Cabinet         1.572          2.008          0.474          0              0              0
  62  Cabinet         1.572          2.008          -0.775         0              0              0
  63  Cabinet         -2.445         2.148          -1.275         0              0              0
  64  Cabinet         -2.446         2.148          -0.284         0              0              0
  65  Cabinet         -2.446         1.948          0.355          0              0              0
  66  Cabinet         -2.446         1.948          0.405          0              0              0
  67  Cabinet         -2.145         0.402          0.644          0              0              0
  68  Cabinet         -2.145         0.402          0.695          0              0              0
  69  Cabinet         -2.285         1.968          -1.325         0              180            0
  70  CounterTop      -1.485         0.946          1.319          0              0              0
  71  StoveBurner     1.411          0.923          0.064          0              0              0
  72  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  73  Drawer          -2.276         0.792          1.368          0              0              0
  74  Fridge          -2.475         0.0            -0.782         0              90             0
  75  LightSwitch     -0.929         1.350          -1.950         0              0              0
  76  Toaster         -2.564         0.900          1.876          0              90             0
  77  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  78  Window          1.508          1.534          -1.496         90             135            0
  79  Window          1.973          1.521          1.121          90             90             0
  80  SinkBasin       1.149          0.753          -1.380         0              225            0
  81  GarbageCan      1.646          -0.000         0.679          0              0              0
  82  Microwave       -2.580         0.900          2.440          0              90             0
  83  Stool           0.439          0.010          0.747          0              0              0
  84  Stool           -2.303         0.010          1.839          0              0              0
  85  Faucet          1.235          1.138          -1.473         0              225            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn around and walk forward to face the sink. | STEP 2: Pick up the knife on the sink. | STEP 3: Turn around and step forward to face the bread on the center table. | STEP 4: Cut the bread on the center table into slices. | STEP 5: Turn left and step forward, then turn right and walk forward to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn around and walk forward and walk around the center table to face the bread on the opposite side. | STEP 8: Pick up a slice of bread on the center table. | STEP 9: Turn left and step forward, then turn right and walk forward to face the fridge. | STEP 10: Cool the bread slice in the fridge and remove it. | STEP 11: Turn right and cross the room and turn left to face the microwave. | STEP 12: Place the bread slice in the microwave. | END