Task: Put a slice of bread in the microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          4.0            0              90             0
   1  Ladle           -0.661         0.839          0.535          0              0              0              58
   2  Ladle           -1.130         1.066          1.150          0              270            0              59
   3  DishSponge      -1.059         1.780          2.369          0              0              0              94
   4  ButterKnife     2.021          1.026          1.503          0              136.999        0              56
   5  ButterKnife     2.707          0.801          -0.267         0              0              0              56
   6  WineBottle      1.925          0.765          3.895          0              270            0              57
   7  Spoon           2.336          1.028          1.797          0              136.999        0              56
   8  Fork            2.599          0.765          4.32           0              0              0              57
   9  Fork            2.552          0.801          0.810          0              317.0          0              68
  10  Egg             -0.851         0.860          1.570          0              90             0              113
  11  Egg             2.525          0.808          4.145          0              0              0              57
  12  Cup             -0.577         0.815          1.414          0              90             0              113
  13  Cup             -0.984         1.780          1.421          0              0              0              90
  14  Knife           2.818          0.825          -0.653         0              270            0              65
  15  Tomato          2.451          0.818          3.62           0              0              0              57
  16  Tomato          -0.794         1.081          2.434          0              0              0              59
  17  Bowl            -0.782         0.814          1.181          0              90             0              113
  18  Bowl            2.959          1.025          -1.456         0              0              0              56
  19  SaltShaker      2.101          0.760          3.821          0              270            0              57
  20  SaltShaker      1.777          1.023          1.555          0              136.999        0              56
  21  PepperShaker    2.595          0.797          -0.405         0              0              0              66
  22  PepperShaker    -0.418         1.023          2.434          0              0              0              59
  23  Bread           2.621          1.094          -0.236         0              0              0              56
  24  Bread           2.726          0.832          3.492          0              329.999        0              57
  25  Bread           2.706          1.094          -0.846         0              0              0              56
  26  Mug             1.895          1.856          -1.876         0              0              0              102
  27  Mug             2.460          0.759          4.399          0              329.999        0              57
  28  Pan             1.836          1.027          -1.84          0              90             0              54
  29  Glassbottle     2.568          1.781          -1.833         0              0              0              95
  30  Knife           1.170          1.052          -1.667         0              90             0              56
  31  SoapBottle      -0.906         1.779          2.312          0              0              0              94
  32  Egg             2.673          0.808          4.32           0              0              0              57
  33  Fork            2.544          1.027          1.154          0              136.999        0              56
  34  Potato          -0.956         0.119          2.842          0              0              0              111
  35  Ladle           2.203          0.803          4.251          0              329.999        0              57
  36  Tomato          -0.714         0.870          1.492          0              90             0              113
  37  Pot             1.761          1.027          -1.599         0              0              0              99
  38  WineBottle      2.788          1.027          1.102          0              136.999        0              56
  39  Plate           -0.627         0.046          2.012          0              0              0              85
  40  Spatula         1.672          0.816          1.569          0              47.0           0              71
  41  PaperTowelRoll  2.542          0.868          3.810          0              329.999        0              57
  42  Lettuce         -0.851         0.874          1.414          0              90             0              113
  43  Apple           -1.038         0.127          2.748          0              0              0              111
  44  SaltShaker      2.855          0.760          3.567          0              329.999        0              57
  45  PepperShaker    2.258          0.760          3.858          0              329.999        0              57
  46  ButterKnife     2.451          0.764          3.97           0              0              0              57
  47  Bread           2.801          0.832          3.970          0              270            0              57
  48  Cup             2.175          0.763          4.447          0              329.999        0              57
  49  DishSponge      2.228          0.764          3.62           0              0              0              57
  50  Bowl            1.953          1.025          1.998          0              317.0          0              56
  51  Spoon           1.290          1.028          -1.987         0              90             0              56
  52  Mug             1.982          0.759          4.335          0              59.999         0              57
  53  Sink            -0.716         1.023          1.333          0              0              0
  54  StoveBurner     1.835          1.018          -1.840         0              90             0
  55  StoveBurner     2.177          1.018          -1.599         0              0              0
  56  CounterTop      2.812          0.992          0.675          0              0              0
  57  DiningTable     2.419          0.003          3.930          0              0              0
  58  Drawer          -0.643         0.828          0.616          0              0              0
  59  CounterTop      -0.813         1.062          2.188          0              0              0
  60  StoveBurner     2.115          1.018          -1.840         0              270            0
  61  Drawer          -0.643         0.831          1.953          0              0              0
  62  Drawer          -0.643         0.833          2.418          0              0              0
  63  Drawer          1.347          0.836          -1.539         0              0              0
  64  Drawer          2.693          0.833          -1.131         0              0              0
  65  Drawer          2.693          0.833          -0.699         0              0              0
  66  Drawer          2.693          0.833          -0.267         0              0              0
  67  Drawer          2.693          0.833          0.163          0              0              0
  68  Drawer          2.524          0.833          0.720          0              2.000          0
  69  Drawer          2.232          0.833          1.036          0              2.000          0
  70  Drawer          1.936          0.833          1.354          0              2.000          0
  71  Drawer          1.646          0.833          1.670          0              2.000          0
  72  Cabinet         1.504          2.475          -1.710         0              0              0
  73  Cabinet         -0.823         2.220          1.621          0              0              0
  74  Cabinet         -0.823         2.220          0.615          0              0              0
  75  Cabinet         1.136          0.388          -1.355         0              0              0
  76  Cabinet         -0.356         0.383          2.626          0              0              0
  77  Cabinet         2.745          2.220          -1.690         0              0              0
  78  Cabinet         1.882          0.383          1.017          0              0              0
  79  Cabinet         1.307          0.473          1.640          0              0              0
  80  Cabinet         1.892          0.383          1.006          0              0              0
  81  Cabinet         2.467          0.383          0.383          0              0              0
  82  Cabinet         2.466          0.383          -0.475         0              0              0
  83  Cabinet         2.466          0.473          0.371          0              0              0
  84  Cabinet         2.386          2.475          -1.710         0              0              0
  85  Cabinet         -0.356         0.383          1.712          0              0              0
  86  Cabinet         2.745          2.220          0.019          0              0              0
  87  Cabinet         -0.663         2.496          0.157          0              0              0
  88  Cabinet         -0.663         2.496          -0.868         0              0              0
  89  Cabinet         -0.356         0.383          0.269          0              0              0
  90  Cabinet         -0.823         2.220          1.603          0              0              0
  91  Cabinet         -0.662         2.234          0.586          0              0              0
  92  Cabinet         2.745          2.220          -0.843         0              0              0
  93  Cabinet         2.745          2.220          -0.827         0              0              0
  94  Cabinet         -0.823         2.220          2.608          0              0              0
  95  Cabinet         2.732          2.226          -1.709         0              0              0
  96  Cabinet         1.137          2.226          -1.709         0              0              0
  97  Cabinet         2.466          0.383          -0.491         0              0              0
  98  Cabinet         2.466          0.383          -1.339         0              0              0
  99  StoveBurner     1.761          1.018          -1.599         0              0              0
 100  Fridge          -0.908         0.0            -0.405         0              0              0
 101  HousePlant      2.517          1.016          1.822          0              0              0
 102  Microwave       1.939          1.745          -1.826         0              0              0
 103  StoveKnob       2.017          1.041          -1.514         0              180            180
 104  StoveKnob       1.934          1.041          -1.514         0              180            180
 105  StoveKnob       2.017          1.041          -1.589         0              180            180
 106  StoveKnob       1.934          1.041          -1.589         0              180            180
 107  Window          1.756          1.608          4.762          90             0              0
 108  HousePlant      2.171          1.004          2.091          0              0              0
 109  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 110  LightSwitch     -0.099         1.410          -2.066         0              0              0
 111  GarbageCan      -0.951         -0.029         2.826          0              0              0
 112  Toaster         -1.007         1.018          2.238          0              90             0
 113  SinkBasin       -0.714         0.805          1.348          0              90             0
 114  Chair           1.615          0.004          4.310          0              107.976        0
 115  Faucet          -1.120         1.013          1.334          0              90             0
 116  Chair           2.759          0.004          3.086          0              358.967        0
 117
 118  NorthWall
 119  EastWall
 120  SouthWall
 121  WestWall

Plan:
STEP 1: Turn to the right, go forward to the door, turn to the left to face the counter.  | STEP 2: Pick up the yellow handled knife that is on the counter.  | STEP 3: Turn to the left, go to the end of the counter, go to the right to the wall, turn to the left to face the round table where the bread is.  | STEP 4: Cut the bread that is to the left of the salt into slices.  | STEP 5: Turn to the left, go forward, turn to the left, go to the counter, turn to the right, go to the counter where the toaster is.  | STEP 6: Put the knife down on the counter in front of the toaster.  | STEP 7: Turn to the right, go forward, turn to the right, go to the wall, turn to the left to the round table where the bread is.  | STEP 8: Pick up a slice of the bread from the table.  | STEP 9: Turn to the left, go forward, turn to the left, go forward to the fridge on the right.  | STEP 10: Put the bread inside the fridge and close the door, then remove the cold bread from the fridge and close the door.  | STEP 11: Turn around, go to the counter, take a right and go forward to the microwave.  | STEP 12: Put the bread inside the microwave and close the door.  | END