Task: Put a piece of heated bread on a shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          2.5            0              90             0
   1  Pan             -1.081         0.949          -1.527         0              0              0              62
   2  SprayBottle     1.262          0.213          1.08           0              90             0              78
   3  SprayBottle     1.207          0.114          -0.625         0              0              0              45
   4  Pen             -2.131         0.777          -1.500         0              90             0              56
   5  ButterKnife     -1.886         0.910          -1.793         0              0              0              59
   6  Pot             -0.552         0.913          -1.874         0              0              0              61
   7  Cup             1.494          1.162          -0.659         0              0              0              67
   8  Plate           -2.323         0.911          0.118          0              0              0              63
   9  Knife           0.916          0.804          -1.123         0              90             0              39
  10  Tomato          1.341          0.254          1.022          0              0              0              78
  11  Tomato          1.332          1.857          2.557          0              270            0              80
  12  Tomato          0.285          0.959          -1.808         0              270            0              40
  13  Glassbottle     -0.996         1.851          -1.912         0              0              0              41
  14  Knife           0.183          0.949          -1.758         0              90             0              40
  15  Plate           -1.957         0.911          0.377          0              0              0              63
  16  Fork            -1.712         0.911          0.377          0              0              0              63
  17  Ladle           -2.323         0.954          0.377          0              90             0              63
  18  Potato          1.356          1.762          1.901          0              270            0              80
  19  Lettuce         -0.477         0.980          -1.534         0              0              0              61
  20  Kettle          -1.431         0.949          -1.81          0              0              0              71
  21  Pen             1.454          1.164          -1.345         0              0              0              67
  22  SaltShaker      -2.445         0.905          0.291          0              0              0              63
  23  Cup             1.426          1.367          1.976          0              270            0              80
  24  Egg             1.485          1.749          1.775          0              270            0              80
  25  Spatula         -1.712         0.925          0.549          0              0              0              63
  26  Bowl            -1.957         0.911          0.118          0              0              0              63
  27  SprayBottle     1.420          0.213          1.051          0              0              0              78
  28  Pan             1.426          1.367          2.226          0              270            0              80
  29  SoapBottle      1.342          1.655          -0.736         0              0              0              49
  30  Pot             1.092          0.120          0.372          0              0              0              44
  31  ButterKnife     1.176          0.911          0.372          0              0              0              61
  32  PepperShaker    1.454          1.157          0.370          0              180            0              67
  33  DishSponge      -1.712         0.910          0.032          0              0              0              63
  34  Bread           1.260          0.989          -0.309         0              0              0              61
  35  Apple           -0.063         0.817          -1.707         0              270            0              82
  36  Spoon           -2.116         0.911          -1.448         0              0              0              59
  37  Mug             1.420          1.715          1.713          0              270            0              80
  38  Drawer          0.860          0.75           0.430          0              0              0
  39  Drawer          0.871          0.75           -1.134         0              0              0
  40  Sink            0.156          0.817          -1.801         0              270            0
  41  Cabinet         -0.868         2.005          -1.690         0              0              0
  42  Cabinet         -1.661         2.059          -1.684         0              90             0
  43  Cabinet         -0.817         2.059          -1.689         0              0              0
  44  Cabinet         0.860          0.402          0.665          0              0              0
  45  Cabinet         0.860          0.402          -0.552         0              0              0
  46  Cabinet         0.860          0.402          -1.365         0              0              0
  47  Cabinet         -0.244         0.402          -1.389         0              0              0
  48  Cabinet         -0.815         0.402          -1.389         0              0              0
  49  Cabinet         1.159          2.059          -0.334         0              0              0
  50  Cabinet         0.488          2.059          -1.689         0              0              0
  51  Cabinet         -0.193         2.059          -1.689         0              0              0
  52  Drawer          0.860          0.75           -0.699         0              0              0
  53  Cabinet         1.159          2.059          -1.019         0              0              0
  54  Cabinet         -1.611         2.005          -1.690         0              0              0
  55  Cabinet         0.832          0.401          -1.393         0              90             0
  56  Drawer          -2.105         0.75           -1.389         0              0              0
  57  StoveBurner     -1.081         0.941          -1.809         0              0              0
  58  Cabinet         -0.202         0.401          -1.391         0              90             0
  59  CounterTop      -1.973         0.945          -1.707         0              0              0
  60  Drawer          -0.375         0.75           -1.389         0              0              0
  61  CounterTop      1.164          0.946          -0.649         0              0              0
  62  StoveBurner     -1.081         0.941          -1.527         0              0              0
  63  CounterTop      -2.096         0.945          0.291          0              0              0
  64  Cabinet         -2.237         0.402          -1.389         0              0              0
  65  Drawer          0.584          0.75           -1.389         0              0              0
  66  Drawer          -1.795         0.75           -1.389         0              0              0
  67  CounterTop      1.5            1.197          -0.654         0              0              0
  68  Cabinet         -1.667         0.402          -1.389         0              0              0
  69  StoveBurner     -1.430         0.941          -1.525         0              0              0
  70  Drawer          -0.685         0.75           -1.389         0              0              0
  71  StoveBurner     -1.430         0.941          -1.809         0              0              0
  72  LightSwitch     -2.539         1.289          2.568          0              90             0
  73  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  74  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  75  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  76  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  77  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  78  GarbageCan      1.343          0.015          1.041          0              0              0
  79  HousePlant      1.440          1.153          0.593          0              0              0
  80  Fridge          1.417          0.0            2.101          0              0              0
  81  Window          -0.486         1.452          3.302          90             0              0
  82  SinkBasin       -0.063         0.765          -1.713         0              270            0
  83  Microwave       1.422          1.150          0.022          0              270            0
  84  Toaster         -2.066         0.900          -1.848         0              0              0
  85  Stool           -1.994         0.010          0.882          0              0              0
  86  Faucet          -0.096         1.041          -1.867         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn right, walk until you reach the counter, then turn left and walk until you hit the dishwasher | STEP 2: Pick up the knife from the counter | STEP 3: Turn right, walk forward a step, then turn left to face the counter | STEP 4: Cut six slices from the loaf of bread. | STEP 5: Turn left, walk forward a step,  then turn right to face the microwave | STEP 6: Open the microwave and place the knife inside | STEP 7: Close the door and turn on the microwave, then turn left, take a step forward and turn right to face the loaf of bread | STEP 8: Pick up a slice of bread | STEP 9: Turn left, walk forward a step and turn right to face the microwave | STEP 10: Place the bread in the microwave on the plate, close the door and turn on the microwave, wait a few seconds, then remove the bread | STEP 11: Turn right, walk forward till you hit the counter, then turn left | STEP 12: Place the bread on the shelf between the glass and the knife | END