Task: place microwaved bread inside of the fridge

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          5.0            0              0              0
   1  Pan             1.559          0.988          4.294          0              0              0              58
   2  Potato          -0.003         0.794          6.479          0              270            0              96
   3  Potato          1.276          0.925          2.525          0              180            0              83
   4  DishSponge      -0.312         0.759          6.354          0              270            0              96
   5  DishSponge      1.540          2.206          4.131          0              0              0              51
   6  ButterKnife     -0.549         0.772          0.507          0              0              0              56
   7  ButterKnife     1.582          0.992          0.440          0              0              0              60
   8  Kettle          -0.413         0.145          0.277          0              0              0              68
   9  Spoon           0.668          0.773          0.619          0              0              0              52
  10  Spoon           -0.466         0.761          6.609          0              135            0              96
  11  Spatula         0.999          1.007          0.212          0              90             0              60
  12  Egg             -0.346         0.810          6.478          0              0              0              96
  13  Plate           0.167          0.760          6.151          0              135            0              96
  14  Knife           1.387          0.920          2.525          0              90             0              83
  15  SoapBottle      -0.284         0.760          6.941          0              0              0              96
  16  SoapBottle      1.238          0.140          1.864          0              0              0              72
  17  PepperShaker    0.028          0.755          6.014          0              0              0              96
  18  PepperShaker    0.847          0.987          0.120          0              0              0              60
  19  SaltShaker      0.305          0.755          6.666          0              270            0              96
  20  SaltShaker      0.015          0.755          6.742          0              225            0              96
  21  Mug             1.384          1.043          0.847          0              270            0              60
  22  Mug             1.225          0.987          1.350          0              0              0              60
  23  Apple           1.497          0.965          2.474          0              90             0              83
  24  Apple           -0.510         0.834          6.565          0              135            0              96
  25  Bowl            1.543          1.576          1.288          0              0              0              70
  26  Bread           -0.687         1.062          0.303          0              0              0              60
  27  Egg             2.154          0.130          6.498          0              0              0              84
  28  Knife           0.923          1.022          0.303          0              90             0              60
  29  Fork            1.493          0.993          1.350          0              0              0              60
  30  Apple           -0.224         0.834          6.633          0              135            0              96
  31  Kettle          1.32           0.988          3.848          0              0              0              59
  32  Plate           1.406          0.141          3.217          0              0              0              71
  33  SaltShaker      -0.096         0.755          6.787          0              0              0              96
  34  Lettuce         1.493          1.081          3.417          0              0              0              60
  35  SoapBottle      1.585          2.207          4.219          0              0              0              48
  36  Spatula         1.348          0.786          3.291          0              0              0              53
  37  PaperTowelRoll  -0.346         0.864          6.169          0              0              0              96
  38  Pot             1.317          0.988          4.294          0              0              0              55
  39  Potato          -0.003         0.794          6.291          0              270            0              96
  40  ButterKnife     -0.487         0.760          6.807          0              135            0              96
  41  PepperShaker    0.080          0.755          6.895          0              225            0              96
  42  Pan             1.403          0.990          3.137          0              0              0              60
  43  Tomato          0.300          0.809          6.284          0              135            0              96
  44  DishSponge      0.440          1.579          0.207          0              0              0              74
  45  Cup             0.544          0.988          0.212          0              0              0              60
  46  Spoon           0.192          0.773          0.563          0              0              0              57
  47  Mug             1.412          1.572          1.471          0              270            0              60
  48  Cabinet         1.307          2.455          4.360          0              0              0
  49  Cabinet         1.054          0.422          1.710          0              0              0
  50  Drawer          1.280          0.808          4.718          0              0              0
  51  Cabinet         1.307          2.455          3.607          0              0              0
  52  Drawer          0.736          0.802          0.521          0              0              0
  53  Drawer          1.276          0.802          3.291          0              0              0
  54  StoveBurner     1.562          0.982          3.848          0              0              0
  55  StoveBurner     1.317          0.982          4.294          0              0              0
  56  Drawer          -0.482         0.802          0.521          0              0              0
  57  Drawer          0.124          0.802          0.521          0              0              0
  58  StoveBurner     1.559          0.982          4.294          0              0              0
  59  StoveBurner     1.320          0.982          3.848          0              0              0
  60  CounterTop      1.391          1.028          0.897          0              0              0
  61  CounterTop      1.391          1.028          4.716          0              0              0
  62  Cabinet         1.054          0.422          4.548          0              0              0
  63  Cabinet         1.317          2.134          0.517          0              0              0
  64  Cabinet         1.317          2.134          4.889          0              0              0
  65  Cabinet         1.317          2.134          3.095          0              0              0
  66  Cabinet         0.443          0.422          0.743          0              0              0
  67  Cabinet         1.270          2.134          0.434          0              0              0
  68  Cabinet         -0.775         0.422          0.743          0              0              0
  69  Cabinet         -0.168         0.422          0.743          0              0              0
  70  Cabinet         1.317          2.134          1.534          0              0              0
  71  Cabinet         1.054          0.422          2.990          0              0              0
  72  Cabinet         1.054          0.422          2.944          0              0              0
  73  Cabinet         -0.263         2.134          0.434          0              0              0
  74  Cabinet         0.252          2.134          0.434          0              0              0
  75  Sink            1.391          1.006          2.326          0              0              0
  76  Microwave       0.108          0.981          0.262          0              0              0
  77  HousePlant      -0.165         0.826          6.444          0              0              0
  78  CoffeeMachine   1.551          0.982          0.953          0              270            0
  79  Toaster         1.473          0.981          4.715          0              270            0
  80  Window          -2.065         1.916          3.626          90             90             0
  81  Window          1.763          2.007          2.299          90             270            0
  82  Fridge          2.035          0.0            5.625          0              0              0
  83  SinkBasin       1.387          0.880          2.338          0              90             0
  84  GarbageCan      2.001          -0.044         6.503          0              0              0
  85  StoveKnob       1.140          0.934          3.987          45             270            0
  86  StoveKnob       1.140          0.934          4.309          45             270            0
  87  StoveKnob       1.140          0.934          4.140          45             270            0
  88  StoveKnob       1.140          0.934          3.824          45             270            0
  89  Vase            -0.226         0.834          6.993          0              0              0
  90  Vase            2.098          0.043          7.070          0              257.232        0
  91  Vase            -0.594         0.835          6.130          0              225            0
  92  LightSwitch     -2.0           1.549          6.045          0              90             0
  93  Safe            2.046          1.072          7.054          0              257.232        0
  94  Faucet          1.534          1.025          2.371          0              294.391        0
  95  Blinds          1.738          2.563          2.312          0              90             0
  96  DiningTable     -0.156         0.000          6.474          0              0              0
  97  Chair           0.291          0.002          6.142          0              310.162        0
  98  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: turn around and walk forwards until you reach the kitchen sink on the left, turn left to face the sink | STEP 2: grab the knife out of the left side sink | STEP 3: turn around and walk forwards a bit, then turn left and walk to the counter at the end of the room | STEP 4: slice up the bread on the countertop there | STEP 5: move left a bit to face the microwave | STEP 6: place the knife inside of the microwave | STEP 7: move right a bit to face the loaf of bread on the counter | STEP 8: pick up a slice of the bread off of the counter | STEP 9: move to the left again a bit, and turn to face the microwave | STEP 10: place the bread inside of the microwave, turn on the microwave, and pull the bread back out | STEP 11: turn around and walk to the kitchen table at the end of the room, then turn left and walk to the fridge | STEP 12: place the bread inside of the fridge | END