Task: pick up knife, cut bread, cook bread in microwave, place bread in to fridge

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          3.0            0              0              0
   1  ButterKnife     -2.851         0.823          3.554          0              0              0              66
   2  Spatula         -0.657         0.915          1.143          0              90             0              84
   3  Egg             -0.921         0.936          1.246          0              90             0              84
   4  Egg             -2.519         1.227          2.333          0              90             0              75
   5  Plate           -2.541         1.637          2.722          0              0              0              56
   6  Cup             -2.577         0.766          2.109          0              90             0              75
   7  Cup             -2.386         1.398          3.936          0              0              0              41
   8  SoapBottle      -0.921         0.900          1.555          0              90             0              84
   9  Tomato          -2.636         1.064          2.165          0              90             0              75
  10  PepperShaker    -1.667         0.124          3.713          0              0              0              65
  11  PepperShaker    -1.317         0.896          1.040          0              90             0              84
  12  SaltShaker      -0.657         0.896          1.143          0              90             0              84
  13  SaltShaker      -1.317         0.896          0.937          0              90             0              84
  14  Apple           0.950          0.884          2.631          0              0              0              48
  15  Plate           -1.359         1.687          3.897          0              0              0              71
  16  Fork            -1.457         0.823          3.545          0              0              0              66
  17  Bread           0.827          0.861          2.449          0              0              0              43
  18  Spatula         -1.317         0.915          1.349          0              90             0              84
  19  PaperTowelRoll  -0.789         1.004          1.246          0              90             0              84
  20  Potato          -0.921         0.943          1.349          0              90             0              84
  21  SoapBottle      -0.657         0.900          1.555          0              90             0              84
  22  Egg             0.800          0.859          0.895          0              0              0              43
  23  Cup             -1.138         0.822          3.637          0              0              0              66
  24  Pot             0.642          0.850          1.375          0              0              0              60
  25  SaltShaker      -0.674         1.237          3.857          0              0              0              47
  26  Pan             -2.667         0.812          3.74           0              137.145        0              66
  27  PepperShaker    -1.317         0.896          1.555          0              90             0              84
  28  ButterKnife     1.024          0.823          0.984          0              0              0              43
  29  Tomato          0.950          0.891          2.198          0              0              0              48
  30  DishSponge      0.820          0.125          0.981          0              0              0              45
  31  Lettuce         -2.577         0.843          2.277          0              90             0              75
  32  Spoon           0.804          0.693          2.496          0              90             0              40
  33  Apple           -1.317         0.961          1.143          0              90             0              84
  34  Knife           -2.291         0.819          3.615          90             0              0              66
  35  Mug             -1.836         0.697          3.774          0              0              0              78
  36  Bowl            -2.519         0.993          2.389          0              90             0              75
  37  Drawer          0.729          0.703          2.199          0              0              0
  38  Cabinet         -1.962         1.926          3.733          0              0              0
  39  Cabinet         -2.377         2.014          1.058          0              0              0
  40  Drawer          0.729          0.703          2.532          0              0              0
  41  Cabinet         -2.622         1.925          3.733          0              0              0
  42  StoveBurner     0.913          0.843          1.375          0              0              0
  43  CounterTop      0.864          0.858          0.984          0              0              0
  44  Cabinet         -1.976         1.779          3.734          0              0              0
  45  Cabinet         0.580          0.385          0.819          0              0              0
  46  Cabinet         -2.379         1.408          1.677          0              0              0
  47  Cabinet         -0.419         1.703          3.736          0              0              0
  48  CounterTop      0.864          0.858          2.371          0              0              0
  49  Sink            -1.702         0.726          3.828          0              180            0
  50  Cabinet         0.580          0.385          2.694          0              0              0
  51  Cabinet         -2.379         0.637          1.677          0              0              0
  52  Cabinet         -0.419         0.674          3.736          0              0              0
  53  Cabinet         -2.377         2.014          2.558          0              0              0
  54  Drawer          0.729          0.703          0.980          0              0              0
  55  Drawer          -2.114         0.706          3.657          0              0              0
  56  Cabinet         -2.377         1.691          2.572          0              0              0
  57  Cabinet         -2.951         1.925          3.733          0              0              0
  58  Cabinet         0.580          0.385          2.360          0              0              0
  59  Cabinet         -2.426         0.435          3.421          0              0              0
  60  StoveBurner     0.642          0.843          1.375          0              0              0
  61  Cabinet         -2.377         1.927          1.686          0              0              0
  62  Cabinet         -2.377         2.013          3.177          0              0              0
  63  Cabinet         -1.136         0.385          3.516          0              0              0
  64  StoveBurner     0.913          0.843          1.768          0              0              0
  65  Cabinet         -1.974         0.385          3.516          0              0              0
  66  CounterTop      -2.081         0.858          3.799          0              0              0
  67  Cabinet         -2.426         0.435          3.174          0              0              0
  68  Cabinet         -2.377         2.014          1.693          0              0              0
  69  Cabinet         -1.986         0.385          3.511          0              0              0
  70  StoveBurner     0.642          0.843          1.768          0              0              0
  71  Cabinet         -1.098         1.926          3.729          0              0              0
  72  Microwave       -1.529         1.250          3.881          1.622          180            0
  73  CoffeeMachine   1.000          0.812          2.492          0              270            0
  74  LightSwitch     0.825          1.396          4.082          0              180            0
  75  Fridge          -2.642         0.0            2.134          0              180            0
  76  Window          -1.131         1.673          0.808          90             0              0
  77  GarbageCan      0.931          -0.000         2.918          0              0              0
  78  SinkBasin       -1.601         0.686          3.774          0              0              0
  79  StoveKnob       1.104          1.002          1.886          0              0              70.346
  80  StoveKnob       1.104          1.002          1.733          0              0              70.346
  81  StoveKnob       1.104          1.002          1.321          0              0              70.346
  82  StoveKnob       1.104          1.002          1.481          0              0              70.346
  83  Toaster         -2.247         0.812          3.862          0              180            0
  84  DiningTable     -0.917         -0.000         1.203          0              0              0
  85  Stool           -0.932         0.000          1.404          1.196          21.715         0
  86  Faucet          -1.842         0.809          3.984          0              180            0
  87  Faucet          -1.371         0.809          3.985          0              180            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: turn left, walk straight, turn right to the counter | STEP 2: pick up knife from the counter | STEP 3: turn around, turn left to the counter | STEP 4: cut in to bread with the knife | STEP 5: turn around, walk to the sink | STEP 6: open cabinet door, place knife in to cabinet, close door | STEP 7: turn around, walk straight to the counter | STEP 8: pick up slice of bread from counter | STEP 9: turn around, walk straight, turn right to the microwave | STEP 10: open door, place bread in to microwave, close door, cook, open door, remove bread, close door | STEP 11: turn around, turn right to the fridge  | STEP 12: open door, place bread in to fridge, close door | END