Task: Slice toast and heat it up 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          1.124          -0.25          0              180            0
   1  Potato          0.277          1.362          -2.789         0              0              0              56
   2  DishSponge      0.824          0.344          -1.854         0              180            0              55
   3  DishSponge      1.053          0.344          -1.854         0              180            0              55
   4  WineBottle      -1.749         0.344          0.110          0              0              0              54
   5  WineBottle      -2.049         1.323          -2.981         0              0              0              56
   6  Kettle          -1.818         0.344          1.523          0              0              0              57
   7  Kettle          -0.630         1.331          -3.301         0              180            0              53
   8  Fork            -1.603         0.423          -0.364         0              0              0              60
   9  Fork            -1.165         1.323          -2.760         0              0              0              56
  10  Spoon           1.025          1.324          -2.053         0              0              0              56
  11  Spoon           -1.380         1.324          -2.981         0              0              0              56
  12  Spatula         -1.518         0.437          -0.561         0              90             0              60
  13  Pot             0.636          1.329          -2.053         0              0              0              56
  14  Egg             -2.049         1.363          2.069          0              0              0              56
  15  Plate           -1.790         1.323          1.744          0              0              0              56
  16  Plate           -1.530         1.323          2.069          0              0              0              56
  17  Knife           -1.790         1.352          -2.201         0              0              0              56
  18  SoapBottle      -1.886         0.344          1.110          0              0              0              57
  19  SoapBottle      -1.681         0.280          2.193          0              0              0              71
  20  Tomato          -1.698         1.084          -0.451         0              0              0              74
  21  Bowl            -2.179         1.321          1.094          0              0              0              56
  22  SaltShaker      -1.602         0.338          -1.963         0              0              0              52
  23  PepperShaker    -1.749         0.338          0.613          0              0              0              54
  24  PepperShaker    -1.603         0.415          -1.348         0              0              0              62
  25  Bread           -1.380         1.397          -3.314         0              0              0              56
  26  Bread           -2.049         1.397          -2.721         0              0              0              56
  27  Bread           1.025          1.397          -2.424         0              0              0              56
  28  Bread           0.896          1.397          -2.053         0              0              0              70
  29  Pot             -0.239         1.331          -3.301         0              180            0              51
  30  Knife           -2.049         1.352          -1.681         0              0              0              56
  31  Bowl            1.017          1.673          1.545          0              270            0              69
  32  Potato          0.977          1.796          2.348          0              270            0              69
  33  SoapBottle      -1.401         1.323          1.744          0              0              0              56
  34  Fork            0.813          0.741          1.054          0              270            0              80
  35  Cup             -1.851         0.341          -1.763         0              0              0              52
  36  Kettle          -0.749         1.332          -2.973         0              0              0              59
  37  Egg             -2.049         1.363          0.445          0              0              0              56
  38  Pan             -1.881         0.327          -2.035         0              0              0              52
  39  SaltShaker      -1.380         1.318          -2.760         0              0              0              56
  40  WineBottle      0.900          0.345          -2.061         0              180            0              55
  41  Lettuce         -1.891         1.400          -1.073         1.046          0              355.707        63
  42  Spatula         -1.826         1.078          -0.496         0              270            0              74
  43  PaperTowelRoll  -1.660         1.427          1.419          0              0              0              56
  44  Tomato          0.957          1.980          1.788          0              270            0              69
  45  Plate           -1.749         0.344          0.311          0              0              0              54
  46  PepperShaker    -1.772         0.415          -1.020         0              0              0              62
  47  DishSponge      0.766          1.322          -2.424         0              0              0              56
  48  Spoon           0.766          1.324          -2.053         0              180            0              56
  49  Apple           0.938          1.806          2.112          0              270            0              69
  50  Mug             -1.750         0.338          1.317          0              0              0              57
  51  StoveBurner     -0.239         1.325          -3.301         0              180            0
  52  Cabinet         -1.461         0.775          -2.002         0              0              0
  53  StoveBurner     -0.630         1.325          -3.301         0              180            0
  54  Cabinet         -1.461         0.775          0.470          0              0              0
  55  Cabinet         0.578          0.776          -2.054         0              0              0
  56  CounterTop      -1.809         1.358          1.182          0              0              0
  57  Cabinet         -1.461         0.775          1.310          0              0              0
  58  Faucet          -2.063         1.362          -0.726         0              39.391         0
  59  StoveBurner     -0.749         1.325          -2.973         0              0              0
  60  Drawer          -1.610         0.681          -0.430         0              0              0
  61  Window          -2.566         1.799          -0.822         270            0              0
  62  Drawer          -1.610         0.681          -1.217         0              0              0
  63  Sink            -1.990         1.143          -0.975         0              0              0
  64  StoveBurner     -0.125         1.325          -2.973         0              0              0
  65  StoveKnob       -0.185         1.338          -2.741         0              270            180
  66  StoveKnob       -0.336         1.338          -2.741         0              270            180
  67  StoveKnob       -0.569         1.338          -2.741         0              270            180
  68  StoveKnob       -0.707         1.338          -2.741         0              270            180
  69  Fridge          1.013          0.227          1.917          0              270            0
  70  Microwave       0.994          1.310          -2.163         0              270            0
  71  GarbageCan      -1.633         0.212          2.192          0              270            0
  72  LightSwitch     1.386          1.565          -0.657         0              270            0
  73  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  74  SinkBasin       -1.835         1.039          -0.542         0              0              0
  75  ButterKnife     0.873          0.468          0.651          0              0              0
  76  Toaster         -1.885         1.310          -2.512         0              90             0
  77  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  78  Drawer          0.647          1.061          0.680          0              270            0
  79  Drawer          0.648          1.061          1.020          0              270            0
  80  Drawer          0.648          0.843          1.020          0              270            0
  81  SideTable       0.975          0.220          0.869          0              270            0
  82  Drawer          0.648          0.602          0.680          0              270            0
  83  Drawer          0.648          0.596          1.020          0              270            0
  84  Drawer          0.648          0.843          0.680          0              270            0
  85  Stool           0.606          0.222          -1.084         1.233          280.489        0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: go straight towards the oven, then turn right and face the counter top near the toaster | STEP 2: pick up the knife with the yellow handle on the counter top | STEP 3: slice the bread behind the toaster on the counter top | STEP 4: turn right towards the sink | STEP 5: place the knife in front of the sink vertically and standing up | STEP 6: go back to the counter top with the toaster | STEP 7: pick up a slice of toast | STEP 8: turn right until you reach the wall, then turn right again and face the microwave | STEP 9: open the microwave door and place the toast in the microwave for several seconds, then remove from the microwave | STEP 10: face the black table on which the microwave sits | STEP 11: place the toast standing up in front of the microwave | END