Task: Put a heated slice of bread in a fridge.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.908          0.5            0              90             0
   1  Potato          -1.130         0.386          0.883          0              90             0              83
   2  DishSponge      1.088          0.115          1.119          0              0              0              55
   3  Glassbottle     1.117          0.887          2.477          0              0              0              95
   4  Glassbottle     -0.813         0.912          -0.907         0              0              0              69
   5  Kettle          1.284          0.887          2.369          0              0              0              95
   6  Kettle          0.802          0.939          -0.740         0              90             0              72
   7  Fork            -1.197         0.750          3.015          0              0              0              44
   8  Pot             0.502          0.939          -0.740         0              90             0              70
   9  Cup             1.444          0.910          0.706          0              0              0              63
  10  Plate           -1.290         0.750          2.644          0              0              0              44
  11  Plate           -1.206         0.752          1.092          0              90             0              83
  12  Tomato          0.951          0.936          2.153          0              0              0              95
  13  Bowl            -1.105         0.748          2.273          0              0              0              44
  14  PepperShaker    1.200          0.882          2.584          0              0              0              95
  15  PepperShaker    1.523          0.907          -0.144         0              0              0              63
  16  Mug             -0.082         0.753          -0.533         0              0              0              90
  17  Mug             -1.135         0.907          -0.732         0              90             0              69
  18  Bread           -1.197         0.813          1.902          0              0              0              44
  19  Glassbottle     -1.263         1.656          0.184          0              0              0              52
  20  Fork            1.367          0.886          2.153          0              0              0              95
  21  Kettle          0.802          0.939          -0.473         0              0              0              71
  22  Tomato          -0.968         0.961          -0.907         0              0              0              69
  23  Plate           1.444          0.912          0.422          0              0              0              63
  24  CellPhone       -1.060         0.909          -0.477         0              0              0              69
  25  Lettuce         -1.012         0.819          2.644          0              0              0              44
  26  Pot             -1.206         1.421          0.988          0              90             0              83
  27  SoapBottle      -1.513         0.913          -0.477         0              0              0              69
  28  WineBottle      -1.099         0.342          0.988          0              90             0              83
  29  Spatula         -1.290         0.764          1.902          0              0              0              44
  30  Bowl            -0.252         0.115          -0.577         0              0              0              59
  31  Apple           -1.433         0.972          -0.907         0              0              0              69
  32  Cup             1.450          0.885          2.584          0              0              0              95
  33  Knife           1.286          0.933          0.139          0              0              0              63
  34  Egg             0.146          0.946          -0.933         0              0              0              69
  35  SaltShaker      -1.123         0.908          -0.907         0              0              0              69
  36  PepperShaker    1.049          0.907          0.706          0              0              0              63
  37  Potato          1.365          0.956          0.139          0              0              0              63
  38  ButterKnife     1.207          0.911          0.706          0              0              0              63
  39  DishSponge      1.117          0.885          2.153          0              0              0              95
  40  Pan             -1.332         0.9            -0.699         0              345.0          0              69
  41  Spoon           1.200          0.887          2.153          0              0              0              95
  42  SprayBottle     -1.012         0.748          3.015          0              0              0              44
  43  Mug             -1.388         1.650          0.146          0              90             0              51
  44  DiningTable     -1.182         0.006          2.414          0              90             0
  45  Cabinet         1.184          2.059          0.375          0              0              0
  46  Cabinet         1.184          2.059          -0.635         0              0              0
  47  Cabinet         0.591          2.309          -0.645         0              0              0
  48  Cabinet         -0.574         2.059          -0.644         0              0              0
  49  Cabinet         -1.103         2.059          -0.644         0              0              0
  50  Cabinet         -1.185         2.059          -0.331         0              0              0
  51  Cabinet         -1.185         2.059          -0.281         0              0              0
  52  Cabinet         -1.185         2.059          0.375          0              0              0
  53  Cabinet         1.184          2.309          1.174          0              0              0
  54  Cabinet         1.184          2.309          0.424          0              0              0
  55  Cabinet         0.988          0.402          0.581          0              0              0
  56  Cabinet         0.988          0.402          0.531          0              0              0
  57  Cabinet         0.988          0.402          -0.178         0              0              0
  58  Cabinet         0.335          0.402          -0.348         0              0              0
  59  Cabinet         -0.374         0.402          -0.348         0              0              0
  60  Cabinet         0.988          0.402          1.231          0              0              0
  61  Cabinet         -1.185         2.309          1.374          0              0              0
  62  Cabinet         -1.185         2.309          0.424          0              0              0
  63  CounterTop      1.274          0.947          0.064          0              0              0
  64  Drawer          1.116          0.792          -0.015         0              0              0
  65  Drawer          -1.116         0.792          0.210          0              180            0
  66  Cabinet         -0.990         0.402          0.374          0              180            0
  67  Drawer          -1.116         0.792          -0.170         0              180            0
  68  Cabinet         -0.990         0.402          -0.335         0              180            0
  69  CounterTop      -1.001         0.947          -0.669         0              0              0
  70  StoveBurner     0.502          0.932          -0.740         0              90             0
  71  StoveBurner     0.801          0.932          -0.473         0              0              0
  72  StoveBurner     0.801          0.932          -0.740         0              90             0
  73  Drawer          1.116          0.792          1.081          0              0              0
  74  Sink            -0.013         0.912          -0.615         0              0              0
  75  Drawer          1.116          0.792          0.732          0              0              0
  76  StoveBurner     0.502          0.932          -0.469         0              0              0
  77  Drawer          1.116          0.792          0.367          0              0              0
  78  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  79  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  80  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  81  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  82  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  83  Fridge          -1.300         0.008          0.987          0              90             0
  84  GarbageCan      1.296          -0.024         1.465          0              0              0
  85  Window          -0.012         1.641          -0.972         90             0              0
  86  Window          1.598          1.646          2.489          90             270            0
  87  Toaster         1.356          0.900          1.044          0              270            0
  88  LightSwitch     0.118          1.353          3.799          0              180            0
  89  Microwave       -1.343         0.900          0.053          0              90             0
  90  SinkBasin       -0.029         0.748          -0.612         0              0              0
  91  Faucet          -0.026         0.927          -0.808         0              0              0
  92  Shelf           -1.182         0.127          2.414          0              90             0
  93  Stool           1.140          0.007          3.262          1.206          20.753         0
  94  Shelf           -1.182         0.435          2.414          0              90             0
  95  DiningTable     1.169          0.014          2.569          0              0              1.896
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Go forward to the counter. | STEP 2: Take the small knife on the left of the counter. | STEP 3: Turn left, go forward, turn left after passing the fridge on the left, go forward to the white table next to the fridge. | STEP 4: Cut the bread on the table into slices. | STEP 5: Turn left, go forward to the counter, turn right to face the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Turn right, go forward, turn left to the bread on the white table. | STEP 8: Take a slice of bread from the table. | STEP 9: Turn left, go forward to the counter, turn right to face the microwave. | STEP 10: Heat the piece of bread in the microwave then take it out. | STEP 11: Go to the fridge to the right. | STEP 12: Put the bread in the upper shelf of the fridge. | END