Task: To heat a bread slice and place it in the fridge.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          1.5            0              0              0
   1  Pan             1.412          0.929          -0.335         0              0              0              47
   2  Potato          1.275          0.954          -1.107         0              315            0              60
   3  DishSponge      -0.081         0.910          1.317          0              0              0              46
   4  DishSponge      -2.287         0.772          0.391          0              0              0              63
   5  ButterKnife     -2.289         0.910          1.830          0              0              0              74
   6  ButterKnife     -0.471         0.910          1.317          0              0              0              46
   7  Fork            1.418          0.919          -1.034         0              45             0              60
   8  Fork            -2.621         0.911          0.631          0              0              0              74
   9  Spatula         -2.348         0.788          1.465          0              270            0              77
  10  Spatula         0.683          0.925          -1.539         0              90             0              56
  11  Egg             -2.532         1.331          -0.507         0              90             0              78
  12  Plate           -2.621         0.913          1.530          0              0              0              74
  13  Tomato          1.604          0.227          0.679          0              0              0              85
  14  Tomato          -2.455         0.953          0.631          0              0              0              74
  15  SoapBottle      -0.341         0.912          0.423          0              0              0              46
  16  Bowl            -2.605         1.534          1.483          0              0              0              59
  17  Bowl            -2.313         0.112          0.489          0              0              0              71
  18  PepperShaker    -0.601         0.905          1.094          0              0              0              46
  19  PepperShaker    1.772          1.658          -0.263         0              0              0              66
  20  SaltShaker      1.662          1.658          -0.407         0              0              0              66
  21  Lettuce         -0.081         0.994          0.423          0              0              0              46
  22  Bread           -2.289         0.996          1.530          0              0              0              74
  23  Pan             1.691          0.929          -0.335         0              0              0              54
  24  Knife           0.292          0.936          -1.795         0              90             0              56
  25  Apple           1.739          0.972          -0.930         0              0              0              56
  26  Bowl            -2.609         1.930          -1.034         0              0              0              67
  27  Fork            1.513          0.911          -0.810         0              0              0              56
  28  Bread           -0.601         0.996          0.870          0              0              0              46
  29  Plate           -0.341         0.913          0.647          0              0              0              46
  30  Egg             -0.211         0.941          1.094          0              0              0              46
  31  Kettle          0.854          0.900          -1.790         0              0              0              56
  32  Potato          -2.466         0.631          -0.783         0              90             0              78
  33  SaltShaker      -2.530         1.933          -0.634         0              0              0              68
  34  Lettuce         -2.455         0.994          0.931          0              0              0              74
  35  Cup             -2.393         1.087          -0.602         0              90             0              78
  36  SoapBottle      1.345          0.920          -1.177         0              135            0              60
  37  Spatula         -2.704         0.925          0.931          0              90             0              74
  38  PaperTowelRoll  1.771          0.289          0.706          0              0              0              85
  39  ButterKnife     1.684          0.911          0.465          0              0              0              55
  40  PepperShaker    1.808          1.658          -0.550         0              0              0              66
  41  DishSponge      -2.318         0.772          0.534          0              0              0              63
  42  Pot             -2.455         0.914          0.031          0              0              0              74
  43  Spoon           -0.730         0.912          0.647          0              0              0              46
  44  Tomato          1.568          0.953          -0.767         0              45             0              56
  45  Mug             0.464          0.955          -1.593         0              0              0              56
  46  CounterTop      -0.360         0.946          1.093          0              0              0
  47  StoveBurner     1.412          0.923          -0.335         0              0              0
  48  StoveKnob       1.878          1.093          0.018          287.989        90             0
  49  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  50  Cabinet         -2.446         1.948          2.924          0              0              0
  51  Drawer          -2.276         0.792          0.902          0              0              0
  52  Cabinet         -2.145         0.402          1.578          0              0              0
  53  Cabinet         0.149          2.008          -1.603         0              90             0
  54  StoveBurner     1.691          0.923          -0.335         0              0              0
  55  CounterTop      1.585          0.946          0.405          0              0              0
  56  CounterTop      0.474          0.946          -1.625         0              0              0
  57  StoveBurner     1.691          0.923          0.064          0              0              0
  58  Cabinet         -2.446         1.948          1.687          0              0              0
  59  Cabinet         -2.446         1.948          1.640          0              0              0
  60  Sink            1.381          0.810          -1.271         0              225            0
  61  StoveKnob       1.878          1.093          0.150          287.989        90             0
  62  Cabinet         -2.145         0.402          -0.236         0              0              0
  63  Drawer          -2.276         0.792          0.437          0              0              0
  64  Drawer          -2.276         0.792          -0.027         0              0              0
  65  Cabinet         1.572          2.008          0.474          0              0              0
  66  Cabinet         1.572          2.008          -0.775         0              0              0
  67  Cabinet         -2.445         2.148          -1.275         0              0              0
  68  Cabinet         -2.446         2.148          -0.284         0              0              0
  69  Cabinet         -2.446         1.948          0.355          0              0              0
  70  Cabinet         -2.446         1.948          0.405          0              0              0
  71  Cabinet         -2.145         0.402          0.644          0              0              0
  72  Cabinet         -2.145         0.402          0.695          0              0              0
  73  Cabinet         -2.285         1.968          -1.325         0              180            0
  74  CounterTop      -1.485         0.946          1.319          0              0              0
  75  StoveBurner     1.411          0.923          0.064          0              0              0
  76  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  77  Drawer          -2.276         0.792          1.368          0              0              0
  78  Fridge          -2.475         0.0            -0.782         0              90             0
  79  LightSwitch     -0.929         1.350          -1.950         0              0              0
  80  Toaster         -2.564         0.900          1.876          0              90             0
  81  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  82  Window          1.508          1.534          -1.496         90             135            0
  83  Window          1.973          1.521          1.121          90             90             0
  84  SinkBasin       1.149          0.753          -1.380         0              225            0
  85  GarbageCan      1.646          -0.000         0.679          0              0              0
  86  Microwave       -2.580         0.900          2.440          0              90             0
  87  Stool           0.439          0.010          0.747          0              0              0
  88  Stool           -2.303         0.010          1.839          0              0              0
  89  Faucet          1.235          1.138          -1.473         0              225            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Look to the left to face the bread on the counter. | STEP 4: Cut the bread on the counter into slices. | STEP 5: Step right to face the microwave. | STEP 6: Place the knife in the microwave. | STEP 7: Step left to face the bread on the counter. | STEP 8: Pick up a slice of bread on the counter. | STEP 9: Step to the right to face the microwave. | STEP 10: Heat the bread slice in the microwave and remove it. | STEP 11: Turn left and walk forward and turn right to face the fridge. | STEP 12: Place the bread slice in the fridge. | END