Task: Place a cold bread slice in a microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.901          -0.5           0              0              0
   1  Pan             -0.376         0.975          -2.451         0              0              0              61
   2  Potato          -2.928         0.757          -0.922         0              0              0              80
   3  Spatula         -0.338         0.930          -0.490         0              0              0              63
   4  Spatula         -3.199         0.731          -0.427         0              225            0              80
   5  Fork            -3.140         0.914          -3.126         0              0              0              36
   6  Egg             -3.079         0.677          -2.064         0              90             0              77
   7  Cup             -2.978         0.717          -0.785         0              225            0              80
   8  Knife           -1.058         0.946          -3.655         0              0              0              36
   9  Tomato          -0.500         0.965          -1.493         0              0              0              63
  10  PepperShaker    -3.140         0.742          -3.134         0              0              0              58
  11  PepperShaker    -0.382         0.743          -1.486         0              0              0              59
  12  Lettuce         -3.130         0.729          -1.941         0              90             0              77
  13  Apple           -3.286         1.441          -2.002         0              90             0              77
  14  Apple           -0.189         1.055          -0.900         0              270            0              73
  15  Pot             -2.836         0.903          -3.745         0              92.628         0              36
  16  Egg             -0.220         1.032          -0.999         0              270            0              73
  17  Cup             -3.226         1.868          -2.508         0              0              0              45
  18  Bread           -2.723         0.757          -0.621         0              270            0              80
  19  Fork            -0.352         0.746          -2.858         0              270            0              66
  20  Pan             -0.376         0.975          -2.031         0              180            0              65
  21  Potato          -2.740         0.757          -0.780         0              0              0              80
  22  Lettuce         -0.160         1.001          -3.112         0              0              0              36
  23  Tomato          -0.854         0.963          -3.581         0              0              0              36
  24  Apple           -3.079         1.441          -1.941         0              90             0              77
  25  SoapBottle      -2.431         0.716          -0.665         0              135            0              80
  26  Spatula         -2.620         0.731          -0.339         0              315            0              80
  27  SaltShaker      -3.300         0.713          -0.665         0              225            0              80
  28  Knife           -3.225         0.946          -2.825         0              0              0              36
  29  PepperShaker    -0.176         0.912          -1.370         0              0              0              63
  30  ButterKnife     -0.176         0.916          -1.555         0              0              0              63
  31  Plate           -1.845         0.788          -3.790         0              0              0              78
  32  DishSponge      -0.413         0.746          -3.318         0              0              0              64
  33  Spoon           -2.439         0.718          -0.371         0              270            0              80
  34  Mug             -0.039         0.908          -4.026         0              0              0              36
  35  Bowl            -2.740         0.711          -0.069         0              0              0              80
  36  CounterTop      -1.789         0.949          -3.803         0              0              0
  37  Cabinet         -0.577         0.388          -3.476         0              0              0
  38  Cabinet         -0.605         0.388          -3.511         0              0              0
  39  Cabinet         -2.976         0.388          -3.201         0              0              0
  40  Cabinet         -0.577         0.388          -0.447         0              0              0
  41  Cabinet         -0.577         0.388          -1.725         0              0              0
  42  Cabinet         -0.226         1.803          -1.743         0              0              0
  43  Cabinet         -0.228         1.799          -0.447         0              0              0
  44  Cabinet         -6.010         1.139          -6.019         0              0              0
  45  Cabinet         -3.022         2.098          -2.681         0              0              0
  46  Cabinet         -3.022         2.098          -1.743         0              0              0
  47  Cabinet         -0.577         0.388          -2.736         0              0              0
  48  Cabinet         -3.232         1.803          -3.343         0              0              0
  49  Cabinet         -2.811         1.810          -3.764         0              0              0
  50  Cabinet         -1.233         1.810          -3.764         0              0              0
  51  Cabinet         -1.364         0.388          -3.511         0              0              0
  52  Cabinet         -1.380         0.388          -3.511         0              0              0
  53  Cabinet         -0.226         1.803          -2.725         0              0              0
  54  Cabinet         -0.236         2.098          -1.767         0              0              0
  55  Cabinet         -0.236         2.098          -2.705         0              0              0
  56  Cabinet         -0.193         1.210          -4.239         0              0              0
  57  Cabinet         -2.148         0.388          -3.511         0              0              0
  58  Drawer          -3.104         0.797          -2.968         0              0              0
  59  Drawer          -0.449         0.797          -1.410         0              0              0
  60  Sink            -1.786         0.902          -3.748         0              0              0
  61  StoveBurner     -0.376         0.936          -2.451         0              0              0
  62  Drawer          -0.449         0.797          -0.762         0              0              0
  63  CounterTop      -0.268         0.951          -1.089         0              0              0
  64  Drawer          -0.449         0.797          -3.348         0              0              0
  65  StoveBurner     -0.376         0.936          -2.031         0              180            0
  66  Drawer          -0.449         0.797          -2.968         0              0              0
  67  StoveBurner     -0.165         0.936          -2.030         0              180            0
  68  StoveBurner     -0.165         0.936          -2.450         0              0              0
  69  StoveKnob       -0.568         0.903          -2.313         45             270            0
  70  StoveKnob       -0.568         0.903          -2.470         45             270            0
  71  StoveKnob       -0.568         0.903          -2.166         45             270            0
  72  StoveKnob       -0.568         0.903          -2.003         45             270            0
  73  Microwave       -0.143         0.903          -0.908         0              270            0
  74  LightSwitch     -1.108         1.457          0.338          0              180            0
  75  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  76  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  77  Fridge          -3.188         0.0            -2.184         0              0              0
  78  SinkBasin       -1.786         0.779          -3.747         0              0              0
  79  Toaster         -0.230         0.903          -3.406         0              270            0
  80  DiningTable     -2.800         0.003          -0.505         0              0              0
  81  Chair           -3.044         0.003          -1.223         0              32.194         0
  82  Faucet          -1.791         1.136          -3.913         0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: turn to the right twice and go the the counter and turn to the left and take a step and turn to the right and step to the counter | STEP 2: pick up the yellow handle knife from the counter top | STEP 3: turn to the right and take a few steps and turn to the right and go to the end of the counter and turn to the left and go to the table | STEP 4: slice up with the knife the loaf of bread on the table | STEP 5: turn to the left and go to the front of the refrigerator and turn to the right and go to the refrigerator | STEP 6: open the refrigerator door and put the knife on the top shelf and close the refrigerator door | STEP 7: turn to the right and go to the table and turn to the right and take a few steps and turn to the left and take a few steps and turn to the left facing the table | STEP 8: pick up a slice of bread from the table | STEP 9: turn to the left and go to the front of the refrigerator and turn to the right and go to the refrigerator | STEP 10: open the refrigerator door and put the bread slice on the top shelf and close the refrigerator door and wait and open the door and take out the bread slice and close the refrigerator door | STEP 11: turn to the right and go to the table and turn to the right and take a few steps and turn  to the left and take a few steps and turn to the right and go to the microwave | STEP 12: open the microwave door and put the bread slice in the microwave and close the door | END