Task: put a chilled slice of bread in to 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          1.75           0              0              0
   1  ButterKnife     1.362          0.937          0.940          0              0              0              38
   2  ButterKnife     -0.960         0.937          0.765          0              0              0              58
   3  Spoon           1.310          0.747          0.780          0              90             0              63
   4  Plate           1.391          0.086          0.918          0              0              0              59
   5  Plate           -0.791         0.088          0.845          0              0              0              45
   6  Knife           -0.960         0.959          0.921          0              0              0              58
   7  Knife           -0.689         0.768          2.449          0              270            0              34
   8  SaltShaker      1.307          1.068          0.274          0              0              0              39
   9  SaltShaker      1.344          0.742          1.120          0              0              0              63
  10  Apple           -0.793         0.987          1.154          0              0              0              58
  11  Apple           1.390          0.119          2.945          0              0              0              71
  12  Lettuce         1.460          1.014          1.676          4.797          59.252         355.176        60
  13  SoapBottle      1.523          0.069          2.945          0              0              0              71
  14  Bread           -0.923         0.990          2.265          0              302.470        0              33
  15  Fork            1.315          0.945          1.756          0              270            0              60
  16  Tomato          -0.960         0.999          1.076          0              0              0              58
  17  Bowl            1.662          1.944          1.877          0              0              0              50
  18  Pot             -1.109         0.930          1.865          0              0              0              57
  19  Spatula         1.483          0.761          1.052          0              270            0              63
  20  Knife           1.275          0.768          0.848          0              90             0              63
  21  SaltShaker      -1.126         0.934          1.154          0              0              0              58
  22  Apple           -1.127         0.987          2.386          0              0              0              33
  23  PepperShaker    1.379          0.742          2.256          0              0              0              36
  24  ButterKnife     -1.126         0.937          0.687          0              0              0              58
  25  Potato          1.619          1.629          1.808          0              270            0              72
  26  Plate           1.391          0.086          2.392          0              0              0              42
  27  DishSponge      -0.710         0.937          0.687          0              0              0              58
  28  Egg             -0.712         0.973          2.537          0              0              0              33
  29  Cup             1.388          0.842          1.341          0              180            0              75
  30  Pan             -0.924         1.498          0.195          0              90             0              65
  31  Spoon           -0.689         0.747          0.779          0              270            0              56
  32  Mug             1.528          1.002          2.345          0              270            0              38
  33  CounterTop      -0.973         0.973          2.386          0              0              0
  34  Drawer          -0.783         0.774          2.381          0              180            0
  35  StoveBurner     -1.108         0.922          1.470          0              0              0
  36  Drawer          1.370          0.774          2.391          0              0              0
  37  Stool           -0.748         0.008          3.116          0              0              0
  38  CounterTop      1.504          0.973          2.309          0              0              0
  39  Cabinet         1.219          1.388          0.591          0              0              0
  40  Cabinet         1.500          2.113          1.164          0              0              0
  41  Cabinet         1.219          2.010          0.591          0              0              0
  42  Cabinet         1.219          0.388          2.105          0              0              0
  43  Cabinet         1.219          0.553          0.591          0              0              0
  44  Cabinet         -0.913         2.113          1.164          0              0              0
  45  Cabinet         -0.633         0.388          0.627          0              0              0
  46  Cabinet         -0.913         2.050          -0.329         0              0              0
  47  Cabinet         -0.913         2.113          0.583          0              0              0
  48  Cabinet         -0.913         2.113          2.082          0              0              0
  49  Cabinet         -0.913         2.113          1.207          0              0              0
  50  Cabinet         1.500          2.113          2.082          0              0              0
  51  Cabinet         1.500          2.113          1.207          0              0              0
  52  Cabinet         1.500          1.810          2.691          0              0              0
  53  Cabinet         1.500          1.810          2.101          0              0              0
  54  Cabinet         -0.633         0.388          2.105          0              0              0
  55  Cabinet         -0.911         1.810          2.700          0              180            0
  56  Drawer          -0.783         0.774          0.915          0              180            0
  57  StoveBurner     -1.108         0.922          1.865          0              0              0
  58  CounterTop      -0.972         0.973          0.921          0              0              0
  59  Cabinet         1.219          0.388          0.631          0              0              0
  60  Sink            1.544          0.869          1.639          0              180            0
  61  StoveBurner     -0.832         0.922          1.865          0              0              0
  62  StoveBurner     -0.831         0.922          1.470          0              0              0
  63  Drawer          1.370          0.774          0.916          0              0              0
  64  Cabinet         -0.911         1.810          2.111          0              180            0
  65  Fridge          -1.001         0.0            0.119          0              0              0
  66  StoveKnob       -0.648         0.926          1.923          0              270            0
  67  StoveKnob       -0.648         0.926          1.363          0              270            0
  68  StoveKnob       -0.648         0.926          1.513          0              270            0
  69  StoveKnob       -0.648         0.926          1.763          0              270            0
  70  Toaster         -1.002         0.926          2.561          0              90             0
  71  GarbageCan      1.451          -0.029         2.912          0              0              0
  72  Microwave       1.632          1.480          1.645          0              270            0
  73  Window          0.224          1.601          3.509          90             0              0
  74  CoffeeMachine   1.692          0.926          2.453          0              270            0
  75  SinkBasin       1.461          0.833          1.369          0              180            0
  76  LightSwitch     0.451          1.412          -1.674         0              0              0
  77  Faucet          1.707          0.925          1.363          0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: turn around and move forward and turn to the right to move to the counter that is between the stove and the fridge | STEP 2: pick up the sharp knife with the yellow handle from the counter | STEP 3: turn right and move to the counter that is on the right side of the stove, turn left to face the counter | STEP 4: slice the loaf of bread that is on the counter with the knife | STEP 5: put the knife on to the counter | STEP 6: pick up the end slice of bread from the counter | STEP 7: turn to the left moving passed the stove and stop at the fridge on the right, turn to face the fridge | STEP 8: open the fridge door, put the slice of bread on to the middle shelf, close the door for five seconds, open the door, remove the slice of bread and close the door | STEP 9: turn to the right and move forwards, at the stove on the left, turn to the right and move to the sink | STEP 10: put the slice of bread in to the microwave that is above the sink | END