Task: Microwave a knife with a piece of bread then put the bread on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          2.0            0              90             0
   1  Pan             1.328          0.957          -1.420         0              180            0              58
   2  Vase            0.663          0.913          -1.776         0              0              0              54
   3  DishSponge      -1.612         0.119          -0.916         0              0              0              59
   4  DishSponge      0.663          0.911          -1.471         0              0              0              54
   5  ButterKnife     -2.072         0.912          -0.939         0              0              0              54
   6  ButterKnife     0.289          0.930          -1.646         0              270            0              51
   7  Kettle          0.974          0.957          -1.688         0              180            0              53
   8  WineBottle      -1.849         0.913          -1.265         0              0              0              54
   9  WineBottle      0.700          1.654          -1.639         0              0              0              65
  10  Spatula         -2.996         0.893          2.999          0              0              0              56
  11  Spatula         -2.577         0.893          2.825          0              225            0              56
  12  Pot             0.079          1.574          2.160          0              180            0              79
  13  Fork            -2.152         0.875          3.370          0              270            0              56
  14  Fork            -0.330         0.697          -1.520         0              90             0              83
  15  Spoon           -3.165         0.879          3.221          0              270            0              56
  16  Spoon           0.014          0.929          -1.718         0              270            0              51
  17  Cup             0.307          0.387          2.054          0              180            0              79
  18  SoapBottle      -1.888         1.657          -1.747         0              0              0              50
  19  SaltShaker      3.662          0.877          1.554          0              270            0              75
  20  PepperShaker    1.687          0.906          -1.437         0              0              0              74
  21  Lettuce         -0.034         1.208          2.206          0              180            0              79
  22  Book            -2.510         0.875          3.559          0              0              0              56
  23  Fork            0.069          0.929          -1.356         0              0              0              51
  24  Tomato          -1.160         0.959          -1.267         0              0              0              54
  25  Egg             -0.377         0.828          2.023          0              180            0              79
  26  Kettle          -0.833         0.900          -1.757         0              0              0              54
  27  Vase            0.633          0.117          -1.445         0              0              0              61
  28  Cup             -0.330         0.695          -1.678         0              270            0              83
  29  WineBottle      -0.897         0.193          2.097          0              90             0              84
  30  Plate           -1.516         0.916          -0.939         0              0              0              54
  31  Spatula         -3.017         0.889          2.863          0              225            0              56
  32  Potato          1.263          1.798          -1.596         0              0              0              78
  33  Pot             0.974          0.957          -1.419         0              180            0              72
  34  Knife           -2.659         0.896          2.884          0              0              0              56
  35  SaltShaker      -2.152         0.874          3.221          0              270            0              56
  36  PepperShaker    0.044          0.908          -1.221         0              0              0              51
  37  Lettuce         -2.472         0.939          2.930          0              135            0              56
  38  ButterKnife     -2.434         0.878          3.236          0              225            0              56
  39  Bread           -0.263         0.886          2.080          0              180            0              79
  40  Vase            3.689          0.882          1.861          0              270            0              75
  41  DishSponge      0.124          0.928          -1.790         0              270            0              51
  42  Apple           0.179          0.983          -1.573         0              270            0              51
  43  Pan             -1.627         0.911          0.363          0              0              0              54
  44  Spoon           -2.315         0.875          3.088          0              135            0              56
  45  SoapBottle      -2.793         0.875          3.565          0              135            0              56
  46  Mug             -1.112         0.958          -1.479         0              0              0              91
  47  Statue          3.676          0.168          1.410          0              334.521        0              77
  48  Statue          3.586          0.551          1.553          0              90             0              77
  49  Bowl            0.093          0.112          -1.415         0              0              0              62
  50  Cabinet         -2.171         2.009          -1.538         0              0              0
  51  Sink            0.024          0.771          -1.708         0              270            0
  52  Cabinet         1.444          2.259          -1.542         0              0              0
  53  StoveBurner     0.974          0.957          -1.688         0              180            0
  54  CounterTop      -1.866         0.947          -0.614         0              0              0
  55  Cabinet         -2.217         0.373          -1.874         0              0              0
  56  DiningTable     -2.663         0.002          3.208          0              0              0
  57  StoveBurner     1.328          0.957          -1.688         0              180            0
  58  StoveBurner     1.328          0.957          -1.420         0              180            0
  59  Cabinet         -1.478         0.373          -1.235         0              0              0
  60  Cabinet         1.775          0.372          -1.242         0              0              0
  61  Cabinet         0.774          0.372          -1.242         0              0              0
  62  Cabinet         0.375          0.372          -1.242         0              0              0
  63  Cabinet         -0.574         0.372          -1.238         0              0              0
  64  Cabinet         1.775          2.009          -1.542         0              0              0
  65  Cabinet         0.524          2.009          -1.542         0              0              0
  66  Cabinet         -0.714         2.009          -1.542         0              0              0
  67  Cabinet         -1.671         2.009          -1.538         0              0              0
  68  Cabinet         0.854          2.259          -1.542         0              0              0
  69  Drawer          -1.636         0.683          -0.930         0              0              0
  70  Drawer          1.650          0.682          -1.396         0              0              0
  71  Drawer          0.600          0.682          -1.396         0              0              0
  72  StoveBurner     0.974          0.957          -1.419         0              180            0
  73  Drawer          -2.062         0.683          -1.579         0              0              0
  74  CounterTop      1.645          0.945          -1.527         0              0              0
  75  Shelf           3.725          0.880          1.671          0              90             0
  76  LightSwitch     2.830          1.266          -0.748         0              0              0
  77  Shelf           3.726          0.552          1.671          0              90             0
  78  Microwave       1.150          1.655          -1.614         0              0              0
  79  Fridge          -0.035         0.0            2.177          0              180            0
  80  Window          -0.115         1.802          -1.896         90             0              0
  81  Window          -4.009         1.799          0.310          90             90             0
  82  Shelf           3.726          0.172          1.671          0              90             0
  83  SinkBasin       -0.330         0.686          -1.581         0              270            0
  84  GarbageCan      -0.870         -0.001         2.136          0              90             0
  85  StoveKnob       1.089          0.913          -1.243         45             0              0
  86  StoveKnob       1.208          0.913          -1.243         45             0              0
  87  StoveKnob       1.340          0.913          -1.243         45             0              0
  88  StoveKnob       0.961          0.913          -1.243         45             0              0
  89  Toaster         1.637          0.900          -1.673         0              0              0
  90  Chair           -3.505         0.002          3.290          0              105.736        0
  91  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  92  HousePlant      -2.663         0.835          3.209          0              0              0
  93  Faucet          -0.187         0.922          -1.75          0              311.166        0
  94  ShelvingUnit    3.726          0.006          1.671          0              90             0
  95  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  96  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  97  Chair           -2.934         0.002          2.437          0              28.531         0
  98  Chair           -1.698         0.002          3.235          0              245.204        0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn around to face the dining table. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Go to the refrigerator. | STEP 4: Open and then close the refrigerator. | STEP 5: Go to the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Go back to the refrigerator. | STEP 8: Pick up a slice of bread. | STEP 9: Go back to the microwave. | STEP 10: Put the bread in the microwave, start it, and then remove the bread. | STEP 11: Go to the dining table | STEP 12: Place the bread on the table between the potted plant and the spoon. | END