Task: Put a slice of bread into 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           -1.0           0.900          -0.5           0              270            0
   1  Kettle          -0.493         1.329          -1.809         0              180            0              46
   2  Potato          -0.872         1.045          -1.770         0              0              0              74
   3  Potato          1.907          0.942          0.292          0              0              0              67
   4  DishSponge      1.907          0.911          0.623          0              0              0              67
   5  DishSponge      0.209          0.108          -1.472         0              180            0              49
   6  ButterKnife     -2.614         0.952          0.435          0              270            0              85
   7  ButterKnife     -2.340         0.952          0.524          0              90             0              85
   8  Pot             1.007          0.962          0.561          0              270            0              54
   9  Fork            1.846          0.912          0.209          0              0              0              67
  10  Fork            0.908          0.920          -1.582         0              270            0              50
  11  Spoon           0.377          0.777          -1.552         0              270            0              75
  12  Spoon           0.649          0.920          -1.582         0              270            0              50
  13  Egg             -0.267         0.947          -1.489         0              0              0              52
  14  Cup             1.601          0.910          0.706          0              0              0              67
  15  Plate           0.445          0.111          0.308          0              0              0              63
  16  Tomato          -0.362         0.119          0.569          0              90             0              81
  17  SaltShaker      -1.791         0.948          0.255          0              90             0              85
  18  SaltShaker      -0.634         0.107          -1.397         0              0              0              66
  19  PepperShaker    -2.203         0.948          0.704          0              90             0              85
  20  Bread           0.035          0.995          0.458          0              0              0              51
  21  Lettuce         -1.791         1.042          0.614          0              90             0              85
  22  Apple           -0.096         0.979          0.209          0              0              0              51
  23  Bread           -0.359         0.995          -1.820         0              0              0              52
  24  Knife           0.167          0.937          0.209          0              0              0              51
  25  Fork            0.753          0.920          -1.449         0              0              0              50
  26  Bowl            1.658          0.911          -1.820         0              0              0              52
  27  Kettle          -2.477         0.953          0.614          0              90             0              85
  28  Cup             -1.872         1.491          -1.849         0              0              0              82
  29  Tomato          0.908          0.968          -1.516         0              270            0              50
  30  SoapBottle      -0.096         0.109          -1.582         0              0              0              61
  31  Plate           1.754          1.329          -1.809         0              180            0              68
  32  Pot             1.361          0.962          0.561          0              270            0              57
  33  Spatula         1.903          0.927          -1.406         0              0              0              52
  34  PaperTowelRoll  -2.203         1.056          0.255          0              90             0              85
  35  Egg             -2.310         0.297          -1.886         0              0              0              82
  36  Lettuce         1.785          1.002          0.458          0              0              0              67
  37  SaltShaker      -0.443         0.107          -1.582         0              0              0              66
  38  PepperShaker    -2.065         0.948          0.704          0              90             0              85
  39  Apple           -2.135         1.559          -1.763         0              0              0              82
  40  ButterKnife     -0.175         0.912          -1.820         0              0              0              52
  41  Potato          -1.959         1.522          -1.677         0              0              0              82
  42  Pan             1.022          0.959          0.288          0              219.190        0              64
  43  DishSponge      -1.928         0.951          0.255          0              90             0              85
  44  Spoon           -1.791         0.953          0.435          0              90             0              85
  45  Mug             0.618          0.945          0.469          0              180            0              76
  46  Cabinet         -0.193         1.688          -1.648         0              180            0
  47  StoveBurner     1.360          0.957          0.293          0              180            0
  48  Drawer          0.499          0.792          0.296          0              0              0
  49  Cabinet         0.095          0.400          -1.352         0              180            0
  50  Sink            0.711          0.817          -1.772         0              270            0
  51  CounterTop      0.280          0.947          0.458          0              0              0
  52  CounterTop      -0.680         0.947          -1.654         0              0              0
  53  Drawer          1.825          0.792          0.296          0              0              0
  54  StoveBurner     1.007          0.957          0.561          0              270            0
  55  Drawer          -0.150         0.792          -1.496         0              0              0
  56  Drawer          -0.586         0.792          -1.496         0              0              0
  57  StoveBurner     1.360          0.957          0.561          0              270            0
  58  Drawer          0.024          0.792          0.296          0              0              0
  59  Cabinet         1.079          0.400          -1.349         0              180            0
  60  Cabinet         1.669          0.402          0.151          0              0              0
  61  Cabinet         0.055          0.402          -1.351         0              0              0
  62  Cabinet         -0.180         0.402          0.151          0              0              0
  63  Cabinet         0.729          0.402          0.151          0              0              0
  64  StoveBurner     1.007          0.957          0.293          0              180            0
  65  Drawer          -1.100         0.792          -1.496         0              0              0
  66  Cabinet         -0.396         0.402          -1.351         0              0              0
  67  CounterTop      1.776          0.947          0.458          0              0              0
  68  Cabinet         1.974          1.688          -1.648         0              180            0
  69  Cabinet         -0.820         0.400          -1.349         0              180            0
  70  Toaster         0.305          0.900          0.552          0              180            0
  71  LightSwitch     -2.756         1.307          -0.987         0              90             0
  72  Window          0.582          1.613          -1.967         90             0              0
  73  Window          1.969          1.5            -0.615         90             270            0
  74  Microwave       -1.037         0.900          -1.723         0              0              0
  75  SinkBasin       0.377          0.765          -1.655         0              270            0
  76  CoffeeMachine   0.618          0.900          0.600          0              180            0
  77  StoveKnob       1.246          0.913          0.118          45             180            0
  78  StoveKnob       1.373          0.913          0.118          45             180            0
  79  StoveKnob       0.995          0.913          0.118          45             180            0
  80  StoveKnob       1.126          0.913          0.118          45             180            0
  81  GarbageCan      -0.368         -0.029         0.539          0              90             0
  82  Fridge          -2.134         0.0            -1.690         0              0              0
  83  Faucet          0.549          1.046          -1.833         0              232.527        0
  84  Stool           -1.475         0.000          0.414          1.233          280.375        0
  85  DiningTable     -2.255         -0.004         0.432          0              0              0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn left, turn left, walk straight, turn right to the table next to the sink | STEP 2: Pick up the knife on the table | STEP 3: Cut the bread on the table into slices | STEP 4: Turn right, walk straight, turn left to the microwave | STEP 5: Open the microwave, put the knife inside, close the microwave. | STEP 6: Turn left, walk straight, turn right to the table next to the sink | STEP 7: Pick up a slice of bread from the table | STEP 8: Turn right, walk straight, turn left to the fridge | STEP 9: Open the fridge, put the bread inside, close the fridge. Open the fridge, take out the bread inside, close the fridge. | STEP 10: Turn left, walk straight, turn right to microwave | STEP 11: Open the microwave, put the bread inside, close the microwave. | END