Task: Cook a bread slice 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           0.0            0.900          3.25           0              270            0
   1  Potato          -2.643         1.451          2.165          0              90             0              75
   2  Potato          -0.921         0.943          1.246          0              90             0              84
   3  Spatula         -1.053         0.915          1.349          0              180            0              84
   4  Spoon           -2.058         0.699          3.699          0              270            0              55
   5  Fork            -0.657         0.901          1.143          0              180            0              84
   6  Plate           -1.717         0.131          3.675          0              0              0              65
   7  SoapBottle      -2.707         0.822          3.331          0              0              0              66
   8  SoapBottle      0.931          0.023          2.889          0              0              0              77
   9  Tomato          -2.577         0.835          2.221          0              90             0              75
  10  Bowl            0.781          0.123          1.020          0              0              0              45
  11  Bowl            -2.519         0.993          2.277          0              90             0              75
  12  SaltShaker      -1.185         0.896          1.452          0              90             0              84
  13  SaltShaker      -2.502         1.845          1.252          0              0              0              39
  14  Lettuce         -2.851         0.898          3.405          0              0              0              66
  15  Plate           -1.359         1.687          3.897          0              0              0              71
  16  Fork            -0.789         0.901          1.246          0              90             0              84
  17  Bread           0.827          0.861          2.449          0              0              0              43
  18  Spatula         0.712          0.848          2.134          0              200.845        0              48
  19  PaperTowelRoll  -2.923         0.927          3.256          0              0              0              66
  20  Potato          -1.317         0.943          1.040          0              90             0              84
  21  SoapBottle      -1.317         0.900          1.246          0              90             0              84
  22  Egg             -2.403         1.227          2.109          0              90             0              75
  23  Cup             -2.087         0.127          3.673          0              0              0              69
  24  Pot             -2.636         1.190          2.277          0              90             0              75
  25  SaltShaker      -2.901         1.395          3.779          0              0              0              57
  26  Pan             -2.667         0.812          3.74           0              137.145        0              66
  27  PepperShaker    -2.851         0.819          3.628          0              0              0              66
  28  ButterKnife     -2.172         0.812          3.552          0              0              0              66
  29  Tomato          -0.913         0.962          1.484          0              0              0              84
  30  DishSponge      -0.524         0.900          1.040          0              90             0              84
  31  Lettuce         -0.580         0.956          1.358          31.822         0              0              84
  32  Spoon           -0.524         0.901          1.246          0              180            0              84
  33  Apple           -1.520         0.758          3.733          0              0              0              78
  34  Knife           -0.524         0.923          1.143          0              90             0              84
  35  Mug             -0.657         0.895          1.555          0              90             0              84
  36  Bowl            -2.678         1.605          2.277          0              90             0              75
  37  Drawer          0.729          0.703          2.199          0              0              0
  38  Cabinet         -1.962         1.926          3.733          0              0              0
  39  Cabinet         -2.377         2.014          1.058          0              0              0
  40  Drawer          0.729          0.703          2.532          0              0              0
  41  Cabinet         -2.622         1.925          3.733          0              0              0
  42  StoveBurner     0.913          0.843          1.375          0              0              0
  43  CounterTop      0.864          0.858          0.984          0              0              0
  44  Cabinet         -1.976         1.779          3.734          0              0              0
  45  Cabinet         0.580          0.385          0.819          0              0              0
  46  Cabinet         -2.379         1.408          1.677          0              0              0
  47  Cabinet         -0.419         1.703          3.736          0              0              0
  48  CounterTop      0.864          0.858          2.371          0              0              0
  49  Sink            -1.702         0.726          3.828          0              180            0
  50  Cabinet         0.580          0.385          2.694          0              0              0
  51  Cabinet         -2.379         0.637          1.677          0              0              0
  52  Cabinet         -0.419         0.674          3.736          0              0              0
  53  Cabinet         -2.377         2.014          2.558          0              0              0
  54  Drawer          0.729          0.703          0.980          0              0              0
  55  Drawer          -2.114         0.706          3.657          0              0              0
  56  Cabinet         -2.377         1.691          2.572          0              0              0
  57  Cabinet         -2.951         1.925          3.733          0              0              0
  58  Cabinet         0.580          0.385          2.360          0              0              0
  59  Cabinet         -2.426         0.435          3.421          0              0              0
  60  StoveBurner     0.642          0.843          1.375          0              0              0
  61  Cabinet         -2.377         1.927          1.686          0              0              0
  62  Cabinet         -2.377         2.013          3.177          0              0              0
  63  Cabinet         -1.136         0.385          3.516          0              0              0
  64  StoveBurner     0.913          0.843          1.768          0              0              0
  65  Cabinet         -1.974         0.385          3.516          0              0              0
  66  CounterTop      -2.081         0.858          3.799          0              0              0
  67  Cabinet         -2.426         0.435          3.174          0              0              0
  68  Cabinet         -2.377         2.014          1.693          0              0              0
  69  Cabinet         -1.986         0.385          3.511          0              0              0
  70  StoveBurner     0.642          0.843          1.768          0              0              0
  71  Cabinet         -1.098         1.926          3.729          0              0              0
  72  Microwave       -1.529         1.250          3.881          1.622          180            0
  73  CoffeeMachine   1.000          0.812          2.492          0              270            0
  74  LightSwitch     0.825          1.396          4.082          0              180            0
  75  Fridge          -2.642         0.0            2.134          0              180            0
  76  Window          -1.131         1.673          0.808          90             0              0
  77  GarbageCan      0.931          -0.000         2.918          0              0              0
  78  SinkBasin       -1.601         0.686          3.774          0              0              0
  79  StoveKnob       1.104          1.002          1.886          0              0              70.346
  80  StoveKnob       1.104          1.002          1.733          0              0              70.346
  81  StoveKnob       1.104          1.002          1.321          0              0              70.346
  82  StoveKnob       1.104          1.002          1.481          0              0              70.346
  83  Toaster         -2.247         0.812          3.862          0              180            0
  84  DiningTable     -0.917         -0.000         1.203          0              0              0
  85  Stool           -0.932         0.000          1.404          1.196          21.715         0
  86  Faucet          -1.842         0.809          3.984          0              180            0
  87  Faucet          -1.371         0.809          3.985          0              180            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Go forward, turn right in front of the sink | STEP 2: Pick up the knife on the counter | STEP 3: Turn around, go forward, turn left and go to the counter to the left of the stove | STEP 4: Slice the bread on the counter | STEP 5: Turn up to the counter | STEP 6: Put the knife on the counter | STEP 7: Turn down on the counter | STEP 8: Pick up a bread slice from the counter | STEP 9: Turn around, go forward, turn right at the microwave | STEP 10: Put the bread slice in the microwave, start the microwave, wait, pick up the bread slice from the microwave | STEP 11: Turn around, go to the front of the sink, turn right | STEP 12: Put the bread slice on the counter | END