Task: Place a piece of sliced bread in a 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           0.901          0.75           0              270            0
   1  Potato          2.168          1.363          -0.007         0              270            0              71
   2  Potato          1.170          0.835          2.584          0              0              0              74
   3  WineBottle      2.129          1.502          2.010          0              0              0              53
   4  WineBottle      -0.196         0.791          1.049          0              0              0              77
   5  ButterKnife     -0.053         0.937          2.757          0              0              0              50
   6  Pot             1.866          0.935          1.504          0              180            0              54
   7  Spatula         -0.033         0.761          2.061          0              270            0              49
   8  Spatula         -0.042         0.805          0.713          0              90             0              77
   9  Spoon           -0.033         0.747          2.197          0              0              0              49
  10  Spoon           -0.138         0.747          2.061          0              90             0              49
  11  Egg             1.276          0.837          2.584          0              0              0              74
  12  Egg             -0.261         1.078          1.961          0              90             0              75
  13  Plate           2.059          0.342          -0.188         0              270            0              71
  14  Knife           -0.119         0.816          1.386          0              0              0              77
  15  Bowl            2.223          1.318          -0.460         0              270            0              71
  16  Bowl            2.076          1.515          -0.460         0              270            0              71
  17  PepperShaker    1.905          1.498          2.767          0              0              0              51
  18  Mug             -0.349         0.785          1.217          0              0              0              77
  19  Egg             2.127          1.561          -0.097         0              270            0              71
  20  Lettuce         2.071          1.000          0.806          0              90             0              61
  21  Fork            2.150          0.938          2.063          0              0              0              50
  22  SoapBottle      2.206          1.502          2.425          0              0              0              43
  23  Ladle           -0.041         0.125          2.197          0              0              0              44
  24  Ladle           -0.282         0.982          2.618          0              0              0              50
  25  Bread           -0.199         0.823          0.813          0              0              0              77
  26  SaltShaker      -0.349         0.785          0.377          0              0              0              77
  27  Potato          1.556          0.977          2.434          0              0              0              50
  28  Pan             1.928          0.070          0.640          0              0              0              47
  29  WineBottle      1.844          0.938          2.063          0              0              0              50
  30  Spatula         -0.042         0.805          0.377          0              0              0              77
  31  Knife           -0.272         0.816          1.217          0              90             0              77
  32  Tomato          2.231          1.565          -0.550         0              270            0              71
  33  Apple           2.150          0.987          2.260          0              0              0              50
  34  ButterKnife     1.660          0.926          2.473          0              352.515        0              50
  35  Pot             0.708          0.081          2.523          0              90             0              57
  36  PepperShaker    -0.042         0.785          1.217          0              0              0              77
  37  Cup             2.301          0.936          0.806          0              0              0              61
  38  DishSponge      2.281          1.948          1.002          0              0              0              60
  39  Plate           -0.312         0.781          0.409          0              0              0              77
  40  Spoon           0.682          0.796          2.584          0              0              0              74
  41  Mug             2.282          1.496          2.104          0              0              0              53
  42  Bowl            -0.042         0.787          1.049          0              0              0              77
  43  Cabinet         2.041          2.113          2.618          0              0              0
  44  Cabinet         0.126          0.388          1.774          0              0              0
  45  StoveBurner     2.140          0.929          1.504          0              180            0
  46  Cabinet         1.760          0.388          2.346          0              0              0
  47  Cabinet         1.760          0.388          0.869          0              0              0
  48  Cabinet         2.041          1.810          0.283          0              0              0
  49  Drawer          -0.024         0.774          2.061          0              0              0
  50  CounterTop      1.065          0.973          2.666          0              0              0
  51  Cabinet         1.969          2.113          2.618          0              0              0
  52  StoveBurner     2.140          0.929          1.106          0              0              0
  53  Cabinet         2.041          2.113          1.809          0              0              0
  54  StoveBurner     1.866          0.929          1.504          0              180            0
  55  Cabinet         2.041          2.113          1.766          0              0              0
  56  Cabinet         1.514          0.388          2.360          0              0              0
  57  Cabinet         0.351          0.388          2.360          0              0              0
  58  Cabinet         2.041          1.810          0.872          0              0              0
  59  Drawer          2.167          0.774          0.582          0              0              0
  60  Cabinet         2.041          2.113          0.892          0              0              0
  61  CounterTop      2.060          0.973          0.583          0              0              0
  62  Sink            0.935          0.936          2.646          0              0              0
  63  Curtains        0.964          2.061          2.989          0              0              0
  64  StoveBurner     1.863          0.929          1.106          0              0              0
  65  Drawer          1.911          0.774          2.060          0              0              0
  66  StoveKnob       2.326          1.092          1.610          288.013        90             0
  67  StoveKnob       2.326          1.092          1.460          288.013        90             0
  68  StoveKnob       2.326          1.092          1.210          288.013        90             0
  69  StoveKnob       2.326          1.092          1.050          288.013        90             0
  70  Toaster         2.126          0.926          0.572          0              270            0
  71  Fridge          2.104          0.0            -0.279         0              270            0
  72  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  73  LightSwitch     0.354          1.518          -1.031         0              0              0
  74  SinkBasin       0.903          0.784          2.640          0              0              0
  75  Microwave       -0.310         0.926          2.077          0              90             0
  76  CoffeeMachine   2.084          0.927          2.667          0              225            0
  77  DiningTable     -0.153         -0.000         1.073          0              270            0
  78  Faucet          1.175          0.926          2.950          270            90             0
  79  Faucet          0.686          0.926          2.950          270            90             0
  80  Chair           -0.077         0.002          0.196          0              15.000         0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn right walk to the sink | STEP 2: Pick up the silver knife from inside the sink | STEP 3: Turn left, turn left, walk straight, turn right to the white table | STEP 4: Slice the bread on the table | STEP 5: Turn left, walk straight, turn left towards the fridge | STEP 6: Open the fridge, place the knife inside the top rack, close the fridge | STEP 7: Turn left, turn left again, walk towards the white table | STEP 8: Pick up a piece of sliced bread from the table | STEP 9: Turn left, walk straight, turn left again towards the fridge | STEP 10: Open the fridge, place the piece of bread on the second shelf, close the fridge | STEP 11: Open the fridge, take out the piece of bread, close the fridge | STEP 12: Turn left, walk straight, turn left again towards the microwave, place the piece of bread inside, close the door,  | END