Task: warm up a sliced piece of bread to put in 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           1.5            0.900          1.25           0              90             0
   1  Statue          -1.322         0.918          -1.469         0              90             0              76
   2  Kettle          2.798          0.553          0.090          0              270            0              82
   3  Kettle          -0.420         0.914          0.294          0              180            0              69
   4  Spatula         -0.252         0.711          0.098          0              90             0              75
   5  Fork            -1.322         0.911          -1.806         0              0              0              76
   6  Spoon           -0.997         0.900          -0.048         0              0              0              69
   7  Spoon           0.012          0.698          0.139          0              180            0              75
   8  Knife           -0.849         0.937          0.083          0              0              0              69
   9  Knife           1.194          0.934          -1.929         0              0              0              76
  10  SoapBottle      1.746          0.116          -1.136         0              0              0              50
  11  SoapBottle      2.491          0.879          0.087          0              180            0              80
  12  Bowl            -0.290         0.760          -2.063         0              0              0              86
  13  Bowl            1.891          0.814          -0.737         0              270            0              83
  14  SaltShaker      3.002          0.876          0.168          0              180            0              80
  15  Bread           1.419          0.993          -1.929         0              0              0              76
  16  Lettuce         2.000          0.893          -0.365         0              270            0              83
  17  Apple           -0.375         1.180          0.662          0              0              0              72
  18  Pan             -1.289         0.957          -0.756         0              180            0              51
  19  Knife           -0.598         1.155          0.618          0              0              0              72
  20  Bowl            1.891          1.095          -0.551         0              270            0              83
  21  Fork            -0.319         0.696          0.139          0              90             0              75
  22  Cup             0.101          0.750          -1.938         0              0              0              86
  23  Ladle           -0.679         0.731          0.190          0              270            0              70
  24  Apple           -0.117         0.811          -1.897         0              0              0              86
  25  Kettle          -1.056         0.956          -1.127         0              0              0              73
  26  Vase            2.695          0.881          0.141          0              180            0              80
  27  Potato          -1.163         0.939          -0.415         358.240        0              0              69
  28  Pot             -1.089         0.9            0.235          0              0              0              69
  29  Bread           -1.148         0.981          -0.184         0              0              0              69
  30  Plate           0.022          0.114          0.163          0              180            0              64
  31  Spatula         -1.018         0.926          -1.929         0              0              0              76
  32  PaperTowelRoll  2.591          0.656          0.038          0              180            0              82
  33  Vase            1.528          1.659          -2.200         0              90             0              49
  34  Egg             0.008          0.947          0.294          0              0              0              69
  35  SoapBottle      -0.612         0.112          0.260          0              180            0              71
  36  SaltShaker      -0.725         0.688          -2.023         0              0              0              46
  37  Lettuce         1.891          1.504          -0.737         0              270            0              83
  38  PepperShaker    -0.623         0.690          -1.979         0              0              0              46
  39  ButterKnife     -0.375         1.131          0.441          0              0              0              72
  40  DishSponge      1.924          0.062          0.166          0              0              0              79
  41  Vase            -1.028         0.133          -0.158         0              0              0              63
  42  Spoon           -0.117         0.764          -2.063         0              0              0              86
  43  Tomato          2.000          1.477          -0.458         0              270            0              83
  44  Mug             1.846          1.010          -1.350         0              270            0              81
  45  Statue          -1.330         0.920          -0.353         0              0              0              69
  46  Drawer          -0.819         0.75           -1.690         0              0              0
  47  Cabinet         -1.149         2.264          -0.838         0              90             0
  48  StoveBurner     -1.056         0.949          -0.671         0              180            0
  49  Cabinet         1.738          2.019          -2.000         0              0              0
  50  Cabinet         1.389          0.469          -1.059         0              0              0
  51  StoveBurner     -1.289         0.949          -0.755         0              180            0
  52  Faucet          -0.157         1.052          -2.196         0              270            0
  53  Cabinet         1.75           2.019          -1.029         0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              0              0
  55  Cabinet         1.179          2.019          -2.0           0              0              0
  56  Cabinet         0.199          2.019          -2.0           0              0              0
  57  Cabinet         -1.100         2.019          -2.0           0              0              0
  58  Cabinet         -1.149         2.019          -1.979         0              0              0
  59  Cabinet         -1.149         2.019          -0.770         0              0              0
  60  Cabinet         -1.149         2.019          0.380          0              0              0
  61  Cabinet         -0.819         0.469          -1.689         0              0              0
  62  Cabinet         -0.839         0.469          -1.664         0              0              0
  63  Cabinet         -0.839         0.469          -0.049         0              0              0
  64  Cabinet         -0.414         0.370          -0.009         0              0              0
  65  Sink            -0.118         0.875          -2.009         0              0              0
  66  StoveBurner     -1.289         0.949          -1.019         0              0              0
  67  Cabinet         0.119          2.264          -2.0           0              0              0
  68  Cabinet         -0.459         2.264          -2.0           0              0              0
  69  CounterTop      -0.665         0.949          0.188          0              0              0
  70  Drawer          -0.449         0.75           -0.010         0              180            0
  71  Cabinet         -0.450         0.469          -0.009         0              0              0
  72  CounterTop      -0.630         1.167          0.573          0              0              0
  73  StoveBurner     -1.056         0.949          -1.126         0              0              0
  74  Cabinet         1.376          0.460          -1.685         0              0              0
  75  Drawer          -0.070         0.75           -0.009         0              180            0
  76  CounterTop      1.159          0.946          -2.013         0              0              0
  77  Cabinet         -1.150         2.264          -1.418         0              90             0
  78  HousePlant      -1.246         1.108          0.606          0              0              0
  79  GarbageCan      1.923          -0.010         0.137          0              0              0
  80  Shelf           2.759          0.880          0.144          0              0              0
  81  Microwave       1.827          0.900          -1.354         0              270            0
  82  Shelf           2.759          0.552          0.145          0              0              0
  83  Fridge          1.975          0.0            -0.537         0              0              0
  84  LightSwitch     0.404          1.297          2.0            0              180            0
  85  Shelf           2.760          0.172          0.145          0              0              0
  86  SinkBasin       -0.129         0.752          -2.007         0              0              0
  87  StoveKnob       -0.873         0.903          -0.827         45             90             0
  88  StoveKnob       -0.873         0.903          -0.676         45             90             0
  89  StoveKnob       -0.873         0.903          -0.966         45             90             0
  90  StoveKnob       -0.873         0.903          -1.123         45             90             0
  91  Toaster         0.840          0.900          -2.057         0              0              0
  92  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  93  ShelvingUnit    2.760          0.006          0.144          0              0              0
  94  Stool           -0.826         0.010          0.908          0              347.513        0
  95  Stool           -0.132         0.010          0.883          0              71.555         0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: turn right, walk towards fridge, turn right, take a step, turn left, walk to the counter | STEP 2: pick up the knife that is on the counter | STEP 3: slice the bread that is on the counter | STEP 4: put the knife back on the counter | STEP 5: pick up a piece of bread that is on the counter | STEP 6: turn left to face the microwave | STEP 7: open microwave, put bread in, close it, turn it on, open and take the bread out, close it | STEP 8: turn left, take a few steps, turn right to face the fridge | STEP 9: open fridge, put bread on the shelf, close fridge | END