Task: Place a piece of sliced bread inside of a microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          2.5            0              270            0
   1  Potato          -0.657         0.943          1.040          0              90             0              88
   2  Pot             0.642          0.850          1.768          0              0              0              74
   3  Spatula         1.024          0.838          1.072          0              270            0              47
   4  Spoon           1.024          0.824          2.285          0              0              0              52
   5  Spoon           -1.909         0.698          3.774          0              90             0              82
   6  Fork            -0.524         0.901          1.452          0              90             0              88
   7  Cup             -2.524         0.157          1.295          0              0              0              79
   8  Knife           -2.374         0.846          3.873          0              0              0              70
   9  Knife           -1.819         0.846          3.577          0              0              0              70
  10  Tomato          -2.635         0.891          3.331          0              0              0              70
  11  Bowl            -2.694         1.189          2.277          0              90             0              79
  12  Bowl            0.703          0.123          1.020          0              0              0              49
  13  PepperShaker    0.626          0.122          2.277          0              0              0              62
  14  PepperShaker    -0.657         0.896          1.143          0              90             0              88
  15  SaltShaker      -0.789         0.896          1.246          0              90             0              88
  16  Lettuce         0.800          0.898          2.371          0              0              0              52
  17  Mug             1.099          0.818          2.285          0              0              0              52
  18  Apple           0.902          0.085          2.889          0              0              0              81
  19  Plate           -2.136         1.402          3.897          0              0              0              48
  20  Fork            -1.216         0.823          3.545          0              0              0              70
  21  Bread           -1.185         0.953          1.452          0              90             0              88
  22  Spatula         0.875          0.838          0.984          0              0              0              47
  23  PaperTowelRoll  -1.602         0.927          4.012          0              0              0              70
  24  Potato          -1.486         1.402          3.868          0              180            0              76
  25  SoapBottle      -1.343         0.127          3.674          0              0              0              67
  26  Egg             -2.677         1.444          2.109          0              90             0              79
  27  Cup             -1.317         0.900          0.937          0              90             0              88
  28  Pot             -2.636         0.994          2.277          0              90             0              79
  29  SaltShaker      -2.347         1.395          3.976          0              0              0              45
  30  Pan             0.642          0.850          1.375          0              0              0              64
  31  PepperShaker    -0.657         0.896          1.555          0              90             0              88
  32  ButterKnife     -1.578         0.823          3.567          0              0              0              70
  33  Tomato          0.875          0.891          2.631          0              0              0              52
  34  DishSponge      -2.463         1.848          1.452          0              0              0              65
  35  Lettuce         -1.317         0.976          1.143          0              90             0              88
  36  Spoon           -0.921         0.901          1.452          0              90             0              88
  37  Apple           0.650          0.884          2.631          0              0              0              52
  38  Knife           0.950          0.846          2.545          0              180            0              52
  39  Mug             -0.921         0.895          1.349          0              180            0              88
  40  Bowl            -1.767         0.126          3.675          0              0              0              69
  41  Drawer          0.729          0.703          2.199          0              0              0
  42  Cabinet         -1.962         1.926          3.733          0              0              0
  43  Cabinet         -2.377         2.014          1.058          0              0              0
  44  Drawer          0.729          0.703          2.532          0              0              0
  45  Cabinet         -2.622         1.925          3.733          0              0              0
  46  StoveBurner     0.913          0.843          1.375          0              0              0
  47  CounterTop      0.864          0.858          0.984          0              0              0
  48  Cabinet         -1.976         1.779          3.734          0              0              0
  49  Cabinet         0.580          0.385          0.819          0              0              0
  50  Cabinet         -2.379         1.408          1.677          0              0              0
  51  Cabinet         -0.419         1.703          3.736          0              0              0
  52  CounterTop      0.864          0.858          2.371          0              0              0
  53  Sink            -1.702         0.726          3.828          0              180            0
  54  Cabinet         0.580          0.385          2.694          0              0              0
  55  Cabinet         -2.379         0.637          1.677          0              0              0
  56  Cabinet         -0.419         0.674          3.736          0              0              0
  57  Cabinet         -2.377         2.014          2.558          0              0              0
  58  Drawer          0.729          0.703          0.980          0              0              0
  59  Drawer          -2.114         0.706          3.657          0              0              0
  60  Cabinet         -2.377         1.691          2.572          0              0              0
  61  Cabinet         -2.951         1.925          3.733          0              0              0
  62  Cabinet         0.580          0.385          2.360          0              0              0
  63  Cabinet         -2.426         0.435          3.421          0              0              0
  64  StoveBurner     0.642          0.843          1.375          0              0              0
  65  Cabinet         -2.377         1.927          1.686          0              0              0
  66  Cabinet         -2.377         2.013          3.177          0              0              0
  67  Cabinet         -1.136         0.385          3.516          0              0              0
  68  StoveBurner     0.913          0.843          1.768          0              0              0
  69  Cabinet         -1.974         0.385          3.516          0              0              0
  70  CounterTop      -2.081         0.858          3.799          0              0              0
  71  Cabinet         -2.426         0.435          3.174          0              0              0
  72  Cabinet         -2.377         2.014          1.693          0              0              0
  73  Cabinet         -1.986         0.385          3.511          0              0              0
  74  StoveBurner     0.642          0.843          1.768          0              0              0
  75  Cabinet         -1.098         1.926          3.729          0              0              0
  76  Microwave       -1.529         1.250          3.881          1.622          180            0
  77  CoffeeMachine   1.000          0.812          2.492          0              270            0
  78  LightSwitch     0.825          1.396          4.082          0              180            0
  79  Fridge          -2.642         0.0            2.134          0              180            0
  80  Window          -1.131         1.673          0.808          90             0              0
  81  GarbageCan      0.931          -0.000         2.918          0              0              0
  82  SinkBasin       -1.601         0.686          3.774          0              0              0
  83  StoveKnob       1.104          1.002          1.886          0              0              70.346
  84  StoveKnob       1.104          1.002          1.733          0              0              70.346
  85  StoveKnob       1.104          1.002          1.321          0              0              70.346
  86  StoveKnob       1.104          1.002          1.481          0              0              70.346
  87  Toaster         -2.247         0.812          3.862          0              180            0
  88  DiningTable     -0.917         -0.000         1.203          0              0              0
  89  Stool           -0.932         0.000          1.404          1.196          21.715         0
  90  Faucet          -1.842         0.809          3.984          0              180            0
  91  Faucet          -1.371         0.809          3.985          0              180            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn right then walk towards the sink. | STEP 2: Pick up the knife with the yellow handle on the left side of the sink. | STEP 3: Turn all the way around then walk towards the wall, turn left towards the table. | STEP 4: Take the knife, then slice the loaf of bread on the table. | STEP 5: Turn left and walk towards the refrigerator, open the door. | STEP 6:  Place the knife on the second shelf, then close the door.  | STEP 7: Turn left then walk towards the wall, then turn left toward the table. | STEP 8: Pick up a slice of bread from the table. | STEP 9: Turn left walk towards the refrigerator, turn right. | STEP 10: Open the refrigerator door and place the slice of bread on the third shelf, then close the door. Open the door and remove the slice of bread from the third shelf and close the door. | STEP 11: Turn right and walk towards the sink. | STEP 12: Open the microwave door above the sink and place the slice of bread inside, then close the door. | END