Task: Place a cooled bread slice into 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           0.75           0.900          4.0            0              90             0
   1  Ladle           -0.661         0.839          0.535          0              0              0              58
   2  Ladle           -1.130         1.066          1.150          0              270            0              59
   3  DishSponge      -1.059         1.780          2.369          0              0              0              94
   4  ButterKnife     2.021          1.026          1.503          0              136.999        0              56
   5  ButterKnife     2.707          0.801          -0.267         0              0              0              56
   6  WineBottle      1.925          0.765          3.895          0              270            0              57
   7  Spoon           2.336          1.028          1.797          0              136.999        0              56
   8  Fork            2.599          0.765          4.32           0              0              0              57
   9  Fork            2.552          0.801          0.810          0              317.0          0              68
  10  Egg             -0.851         0.860          1.570          0              90             0              113
  11  Egg             2.525          0.808          4.145          0              0              0              57
  12  Cup             -0.577         0.815          1.414          0              90             0              113
  13  Cup             -0.984         1.780          1.421          0              0              0              90
  14  Knife           2.818          0.825          -0.653         0              270            0              65
  15  Tomato          2.451          0.818          3.62           0              0              0              57
  16  Tomato          -0.794         1.081          2.434          0              0              0              59
  17  Bowl            -0.782         0.814          1.181          0              90             0              113
  18  Bowl            2.959          1.025          -1.456         0              0              0              56
  19  SaltShaker      2.101          0.760          3.821          0              270            0              57
  20  SaltShaker      1.777          1.023          1.555          0              136.999        0              56
  21  PepperShaker    2.595          0.797          -0.405         0              0              0              66
  22  PepperShaker    -0.418         1.023          2.434          0              0              0              59
  23  Bread           2.621          1.094          -0.236         0              0              0              56
  24  Bread           2.726          0.832          3.492          0              329.999        0              57
  25  Bread           2.706          1.094          -0.846         0              0              0              56
  26  Mug             1.895          1.856          -1.876         0              0              0              102
  27  Mug             2.460          0.759          4.399          0              329.999        0              57
  28  Pan             1.836          1.027          -1.84          0              90             0              54
  29  Glassbottle     2.568          1.781          -1.833         0              0              0              95
  30  Knife           1.170          1.052          -1.667         0              90             0              56
  31  SoapBottle      -0.906         1.779          2.312          0              0              0              94
  32  Egg             2.673          0.808          4.32           0              0              0              57
  33  Fork            2.544          1.027          1.154          0              136.999        0              56
  34  Potato          -0.956         0.119          2.842          0              0              0              111
  35  Ladle           2.203          0.803          4.251          0              329.999        0              57
  36  Tomato          -0.714         0.870          1.492          0              90             0              113
  37  Pot             1.761          1.027          -1.599         0              0              0              99
  38  WineBottle      2.788          1.027          1.102          0              136.999        0              56
  39  Plate           -0.627         0.046          2.012          0              0              0              85
  40  Spatula         1.672          0.816          1.569          0              47.0           0              71
  41  PaperTowelRoll  2.542          0.868          3.810          0              329.999        0              57
  42  Lettuce         -0.851         0.874          1.414          0              90             0              113
  43  Apple           -1.038         0.127          2.748          0              0              0              111
  44  SaltShaker      2.855          0.760          3.567          0              329.999        0              57
  45  PepperShaker    2.258          0.760          3.858          0              329.999        0              57
  46  ButterKnife     2.451          0.764          3.97           0              0              0              57
  47  Bread           2.801          0.832          3.970          0              270            0              57
  48  Cup             2.175          0.763          4.447          0              329.999        0              57
  49  DishSponge      2.228          0.764          3.62           0              0              0              57
  50  Bowl            1.953          1.025          1.998          0              317.0          0              56
  51  Spoon           1.290          1.028          -1.987         0              90             0              56
  52  Mug             1.982          0.759          4.335          0              59.999         0              57
  53  Sink            -0.716         1.023          1.333          0              0              0
  54  StoveBurner     1.835          1.018          -1.840         0              90             0
  55  StoveBurner     2.177          1.018          -1.599         0              0              0
  56  CounterTop      2.812          0.992          0.675          0              0              0
  57  DiningTable     2.419          0.003          3.930          0              0              0
  58  Drawer          -0.643         0.828          0.616          0              0              0
  59  CounterTop      -0.813         1.062          2.188          0              0              0
  60  StoveBurner     2.115          1.018          -1.840         0              270            0
  61  Drawer          -0.643         0.831          1.953          0              0              0
  62  Drawer          -0.643         0.833          2.418          0              0              0
  63  Drawer          1.347          0.836          -1.539         0              0              0
  64  Drawer          2.693          0.833          -1.131         0              0              0
  65  Drawer          2.693          0.833          -0.699         0              0              0
  66  Drawer          2.693          0.833          -0.267         0              0              0
  67  Drawer          2.693          0.833          0.163          0              0              0
  68  Drawer          2.524          0.833          0.720          0              2.000          0
  69  Drawer          2.232          0.833          1.036          0              2.000          0
  70  Drawer          1.936          0.833          1.354          0              2.000          0
  71  Drawer          1.646          0.833          1.670          0              2.000          0
  72  Cabinet         1.504          2.475          -1.710         0              0              0
  73  Cabinet         -0.823         2.220          1.621          0              0              0
  74  Cabinet         -0.823         2.220          0.615          0              0              0
  75  Cabinet         1.136          0.388          -1.355         0              0              0
  76  Cabinet         -0.356         0.383          2.626          0              0              0
  77  Cabinet         2.745          2.220          -1.690         0              0              0
  78  Cabinet         1.882          0.383          1.017          0              0              0
  79  Cabinet         1.307          0.473          1.640          0              0              0
  80  Cabinet         1.892          0.383          1.006          0              0              0
  81  Cabinet         2.467          0.383          0.383          0              0              0
  82  Cabinet         2.466          0.383          -0.475         0              0              0
  83  Cabinet         2.466          0.473          0.371          0              0              0
  84  Cabinet         2.386          2.475          -1.710         0              0              0
  85  Cabinet         -0.356         0.383          1.712          0              0              0
  86  Cabinet         2.745          2.220          0.019          0              0              0
  87  Cabinet         -0.663         2.496          0.157          0              0              0
  88  Cabinet         -0.663         2.496          -0.868         0              0              0
  89  Cabinet         -0.356         0.383          0.269          0              0              0
  90  Cabinet         -0.823         2.220          1.603          0              0              0
  91  Cabinet         -0.662         2.234          0.586          0              0              0
  92  Cabinet         2.745          2.220          -0.843         0              0              0
  93  Cabinet         2.745          2.220          -0.827         0              0              0
  94  Cabinet         -0.823         2.220          2.608          0              0              0
  95  Cabinet         2.732          2.226          -1.709         0              0              0
  96  Cabinet         1.137          2.226          -1.709         0              0              0
  97  Cabinet         2.466          0.383          -0.491         0              0              0
  98  Cabinet         2.466          0.383          -1.339         0              0              0
  99  StoveBurner     1.761          1.018          -1.599         0              0              0
 100  Fridge          -0.908         0.0            -0.405         0              0              0
 101  HousePlant      2.517          1.016          1.822          0              0              0
 102  Microwave       1.939          1.745          -1.826         0              0              0
 103  StoveKnob       2.017          1.041          -1.514         0              180            180
 104  StoveKnob       1.934          1.041          -1.514         0              180            180
 105  StoveKnob       2.017          1.041          -1.589         0              180            180
 106  StoveKnob       1.934          1.041          -1.589         0              180            180
 107  Window          1.756          1.608          4.762          90             0              0
 108  HousePlant      2.171          1.004          2.091          0              0              0
 109  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 110  LightSwitch     -0.099         1.410          -2.066         0              0              0
 111  GarbageCan      -0.951         -0.029         2.826          0              0              0
 112  Toaster         -1.007         1.018          2.238          0              90             0
 113  SinkBasin       -0.714         0.805          1.348          0              90             0
 114  Chair           1.615          0.004          4.310          0              107.976        0
 115  Faucet          -1.120         1.013          1.334          0              90             0
 116  Chair           2.759          0.004          3.086          0              358.967        0
 117
 118  NorthWall
 119  EastWall
 120  SouthWall
 121  WestWall

Plan:
STEP 1: Back up, turn to the right, walk to the door straight ahead. | STEP 2: Once you reach the door, turn to the left and face the counter. Pick up the knife  | STEP 3: Turn to the left, walk around the island and to the white table in the corner.  | STEP 4: Slice half of the bread that is on the table. | STEP 5: Knock two slices of bread onto the floor, turn left and walk over the the counter where the toaster is.  | STEP 6: Place the knife on the counter in front of the toaster.  | STEP 7: Turn to the right and walk back to the table.  | STEP 8: Grab a slice of bread from the table.  | STEP 9: Turn to the left and walk to the refrigerator.  | STEP 10: Open the refrigerator,place the bread slice on the shelf, close the door. Open the door, take the slice of bread out of the refrigerator and close the door.  | STEP 11: Turn to the left and walk to the stove.  | STEP 12: Place the slice of bread on the plate in the microwave that is above the stove.  | END