Task: put a slice of chilled bread in to 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           0.5            0.900          0.75           0              180            0
   1  Pan             -1.109         0.930          1.470          0              0              0              42
   2  Pan             -1.109         0.930          1.865          0              0              0              64
   3  DishSponge      -1.151         1.949          1.830          0              0              0              55
   4  Spoon           1.275          0.747          0.984          0              90             0              70
   5  Spoon           1.456          0.849          1.369          0              0              0              82
   6  Spatula         -1.043         0.952          0.765          0              180            0              65
   7  Spatula         1.275          0.761          2.459          0              270            0              43
   8  Egg             -1.211         0.973          2.386          0              0              0              40
   9  Egg             -0.710         0.973          0.998          0              0              0              65
  10  Cup             -1.043         0.936          1.154          0              0              0              65
  11  Cup             1.459          1.745          -0.137         0              0              0              48
  12  Plate           -1.076         1.832          0.356          0              0              0              54
  13  Knife           -1.043         0.959          1.076          0              0              0              65
  14  Bowl            -1.126         0.934          0.765          0              0              0              65
  15  PepperShaker    1.448          0.742          2.323          0              0              0              43
  16  Mug             -1.018         1.494          -0.034         0              90             0              72
  17  Apple           -0.899         0.615          0.119          0              90             0              72
  18  Apple           -0.876         0.987          1.154          0              0              0              65
  19  Lettuce         1.458          1.014          1.677          3.773          58.902         356.164        67
  20  SoapBottle      1.456          0.069          2.945          0              0              0              78
  21  Bread           -0.923         0.990          2.265          0              302.470        0              40
  22  Fork            -0.896         0.747          0.982          0              270            0              63
  23  Tomato          -0.971         1.380          -0.110         0              90             0              72
  24  Bowl            -0.971         1.315          0.195          0              90             0              72
  25  Pot             -0.818         0.927          0.816          0              270            0              65
  26  Spatula         -0.758         0.761          1.050          0              270            0              63
  27  Knife           -0.861         0.768          0.779          0              90             0              63
  28  SaltShaker      1.448          0.742          0.916          0              0              0              70
  29  Apple           -1.012         0.864          -0.110         0              90             0              72
  30  PepperShaker    1.346          1.068          -0.029         0              0              0              46
  31  ButterKnife     1.376          0.736          2.234          0              29.999         0              43
  32  Potato          -1.211         0.970          2.234          0              0              0              40
  33  Plate           -0.791         0.088          0.915          0              0              0              52
  34  DishSponge      1.419          1.746          0.066          0              0              0              48
  35  Egg             1.652          1.621          1.651          0              270            0              79
  36  Cup             -0.899         0.564          0.348          0              90             0              72
  37  Pan             -0.893         0.199          -0.044         0              90             0              72
  38  Spoon           1.362          0.939          1.007          0              0              0              45
  39  Mug             1.528          1.002          2.345          0              270            0              45
  40  CounterTop      -0.973         0.973          2.386          0              0              0
  41  Drawer          -0.783         0.774          2.381          0              180            0
  42  StoveBurner     -1.108         0.922          1.470          0              0              0
  43  Drawer          1.370          0.774          2.391          0              0              0
  44  Stool           -0.748         0.008          3.116          0              0              0
  45  CounterTop      1.504          0.973          2.309          0              0              0
  46  Cabinet         1.219          1.388          0.591          0              0              0
  47  Cabinet         1.500          2.113          1.164          0              0              0
  48  Cabinet         1.219          2.010          0.591          0              0              0
  49  Cabinet         1.219          0.388          2.105          0              0              0
  50  Cabinet         1.219          0.553          0.591          0              0              0
  51  Cabinet         -0.913         2.113          1.164          0              0              0
  52  Cabinet         -0.633         0.388          0.627          0              0              0
  53  Cabinet         -0.913         2.050          -0.329         0              0              0
  54  Cabinet         -0.913         2.113          0.583          0              0              0
  55  Cabinet         -0.913         2.113          2.082          0              0              0
  56  Cabinet         -0.913         2.113          1.207          0              0              0
  57  Cabinet         1.500          2.113          2.082          0              0              0
  58  Cabinet         1.500          2.113          1.207          0              0              0
  59  Cabinet         1.500          1.810          2.691          0              0              0
  60  Cabinet         1.500          1.810          2.101          0              0              0
  61  Cabinet         -0.633         0.388          2.105          0              0              0
  62  Cabinet         -0.911         1.810          2.700          0              180            0
  63  Drawer          -0.783         0.774          0.915          0              180            0
  64  StoveBurner     -1.108         0.922          1.865          0              0              0
  65  CounterTop      -0.972         0.973          0.921          0              0              0
  66  Cabinet         1.219          0.388          0.631          0              0              0
  67  Sink            1.544          0.869          1.639          0              180            0
  68  StoveBurner     -0.832         0.922          1.865          0              0              0
  69  StoveBurner     -0.831         0.922          1.470          0              0              0
  70  Drawer          1.370          0.774          0.916          0              0              0
  71  Cabinet         -0.911         1.810          2.111          0              180            0
  72  Fridge          -1.001         0.0            0.119          0              0              0
  73  StoveKnob       -0.648         0.926          1.923          0              270            0
  74  StoveKnob       -0.648         0.926          1.363          0              270            0
  75  StoveKnob       -0.648         0.926          1.513          0              270            0
  76  StoveKnob       -0.648         0.926          1.763          0              270            0
  77  Toaster         -1.002         0.926          2.561          0              90             0
  78  GarbageCan      1.451          -0.029         2.912          0              0              0
  79  Microwave       1.632          1.480          1.645          0              270            0
  80  Window          0.224          1.601          3.509          90             0              0
  81  CoffeeMachine   1.692          0.926          2.453          0              270            0
  82  SinkBasin       1.461          0.833          1.369          0              180            0
  83  LightSwitch     0.451          1.412          -1.674         0              0              0
  84  Faucet          1.707          0.925          1.363          0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: turn to the left and move to the counter that is to the left of the stove | STEP 2: pick up the sharp knife with the yellow handle that is to the left of the glass | STEP 3: turn to the right and move forward to the counter that is to the right of the stove | STEP 4: turn to face the counter in front of the loaf of bread and slice the loaf with the knife | STEP 5: stick the knife, straight up and down, in to the loaf of bread | STEP 6: pick up the end piece of the sliced loaf of bread | STEP 7: turn to the left and move forward to the fridge on the right, turn right to face the fridge | STEP 8: open the door of the refrigerator, put the slice of bread on the top shelf to the left of the tomato, close the door for eight seconds, open the door, remove the slice and close the door | STEP 9: turn to the right and move forward until the sink is on the right, turn to the right and move to the sink | STEP 10: open the door of the microwave that is above the sink, put the slice of bread into the microwave and close the door | END