Task: To heat a slice of bread and place it 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           -2.75          0.900          2.75           0              270            0
   1  Potato          -1.796         0.066          1.288          0              270            0              73
   2  Potato          1.553          0.935          1.333          0              0              0              59
   3  Ladle           -0.213         0.969          0.970          0              0              0              67
   4  Kettle          2.001          1.660          -1.204         0              270            0              47
   5  Spatula         0.107          0.940          -0.190         0              0              0              67
   6  Pot             1.975          0.938          0.819          0              180            0              69
   7  Egg             1.892          1.063          -0.861         0              270            0              80
   8  Egg             -1.716         0.896          0.201          0              90             0              82
   9  Cup             -1.753         1.027          0.295          0              90             0              82
  10  Plate           0.214          0.924          0.273          0              0              0              67
  11  Tomato          -0.320         0.980          0.041          0              0              0              67
  12  Mug             1.924          1.001          -0.704         0              270            0              80
  13  Apple           -1.639         0.964          -1.013         0              0              0              59
  14  SoapBottle      0.250          0.116          -1.471         0              0              0              48
  15  Cup             -0.002         0.758          -1.324         0              0              0              83
  16  Pot             -1.237         1.683          -1.614         0              0              0              61
  17  Fork            1.769          0.583          -0.019         0              270            0              44
  18  Ladle           1.218          1.724          -1.614         0              0              0              58
  19  Kettle          -0.106         0.926          0.041          0              0              0              67
  20  Egg             -1.663         0.620          -0.175         0              90             0              82
  21  Plate           0.000          0.924          0.506          0              0              0              67
  22  Pan             1.765          0.938          0.384          0              180            0              62
  23  Lettuce         -0.175         0.837          -1.490         0              0              0              83
  24  Spatula         1.603          0.777          1.220          0              180            0              65
  25  Apple           0.170          0.813          -1.546         0              0              0              83
  26  Knife           1.802          0.933          -1.415         0              0              0              59
  27  SaltShaker      0.889          0.907          -1.318         0              0              0              59
  28  PepperShaker    0.107          0.921          0.041          0              0              0              67
  29  CellPhone       0.321          0.923          0.506          0              0              0              67
  30  ButterKnife     1.662          0.545          1.219          0              0              0              57
  31  Bread           0.321          1.006          0.970          0              0              0              67
  32  Tomato          -1.697         1.731          -0.175         0              90             0              82
  33  Potato          -1.803         1.492          0.107          0              90             0              82
  34  DishSponge      1.713          0.349          0.047          0              0              0              55
  35  Spoon           -0.106         0.926          0.273          0              0              0              67
  36  Mug             0.083          0.755          -1.435         0              0              0              83
  37  Bowl            -1.841         1.660          -0.980         0              90             0              46
  38  Cabinet         -0.495         0.474          -1.149         0              0              0
  39  Window          -0.010         1.582          -1.821         0              0              0
  40  Drawer          0.805          0.475          -1.159         0              0              0
  41  StoveBurner     1.764          0.902          0.601          0              270            0
  42  Drawer          1.5            0.196          -0.019         0              0              0
  43  Drawer          1.5            0.629          -0.018         0              0              0
  44  Drawer          1.5            0.602          -0.019         0              270            0
  45  StoveBurner     1.975          0.902          0.384          0              270            0
  46  Cabinet         -1.703         2.022          -1.453         0              90             0
  47  Cabinet         1.789          2.019          -0.819         0              270            0
  48  Cabinet         0.494          0.474          -1.149         0              0              0
  49  Cabinet         0.409          0.475          0.444          0              0              0
  50  Drawer          -0.696         0.475          -1.159         0              0              0
  51  Drawer          1.5            0.140          0.599          0              270            0
  52  Cabinet         1.389          0.474          -1.149         0              0              0
  53  Drawer          1.5            0.305          0.600          0              0              0
  54  StoveBurner     1.975          0.902          0.601          0              270            0
  55  Drawer          1.5            0.429          -0.019         0              0              0
  56  StoveBurner     1.764          0.902          0.819          0              270            0
  57  Drawer          1.5            0.519          1.220          0              0              0
  58  Cabinet         1.705          2.019          -1.449         0              0              0
  59  CounterTop      0.002          0.947          -1.513         0              0              0
  60  Drawer          1.5            0.629          0.605          0              0              0
  61  Cabinet         -0.627         2.019          -1.449         0              0              0
  62  StoveBurner     1.764          0.902          0.384          0              270            0
  63  Drawer          1.5            0.538          0.600          0              0              0
  64  Sink            0.0            0.893          -1.434         0              0              0
  65  Drawer          1.5            0.782          1.220          0              270            0
  66  Window          2.217          1.565          -0.384         0              0              0
  67  CounterTop      -0.014         0.961          0.505          0              0              0
  68  Drawer          1.5            0.200          1.220          0              0              0
  69  StoveBurner     1.975          0.902          0.819          0              270            0
  70  Window          -3.240         1.616          2.693          0              270            0
  71  Cabinet         -1.389         0.474          -1.149         0              0              0
  72  LightSwitch     -0.153         1.291          3.700          0              180            0
  73  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  74  StoveKnob       1.602          0.917          0.570          0              270            180
  75  StoveKnob       1.602          0.917          0.625          0              270            180
  76  StoveKnob       1.602          0.917          0.739          0              270            180
  77  StoveKnob       1.602          0.917          0.680          0              270            180
  78  StoveKnob       1.602          0.917          0.462          0              270            180
  79  StoveKnob       1.602          0.917          0.517          0              270            180
  80  Microwave       1.932          0.899          -0.766         0              270            0
  81  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  82  Fridge          -1.764         0.0            0.014          0              90             0
  83  SinkBasin       -0.014         0.736          -1.435         0              0              0
  84  Toaster         1.977          0.900          -0.336         0              270            0
  85  Faucet          -0.020         1.137          -1.605         0              270            0
  86  Chair           -9.354         0.000          1.242          0              180            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn around and walk across to the opposite corner of the room to face the knife on the counter by the microwave. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and step forward to face the bread on the center table. | STEP 4: Cut the bread on the center table into slices. | STEP 5: Turn around and step forward to face the drawer to the right of the stove. | STEP 6: Place the knife in the drawer to the right of the stove. | STEP 7: Turn around to face the bread on the counter. | STEP 8: Pick up a slice of bread on the counter. | STEP 9: Turn around and step to the right to face the microwave. | STEP 10: Heat the bread in the microwave and remove it. | STEP 11: Turn around and cross the room to face the fridge. | STEP 12: Place the slice of bread in the fridge. | END