Task: slice 2 pieces of bread put them on the grey table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          0.25           0              270            0
   1  Potato          -0.983         0.855          -1.411         0              90             0              106
   2  DishSponge      -0.125         0.770          1.198          0              0              0              52
   3  DishSponge      1.831          0.770          1.122          0              0              0              82
   4  Kettle          0.281          0.964          1.082          0              0              0              53
   5  Kettle          1.559          1.656          -0.732         0              180            0              69
   6  ButterKnife     -0.887         0.820          -1.255         0              0              0              106
   7  ButterKnife     2.754          0.911          1.044          0              0              0              82
   8  Pot             1.173          0.118          -0.458         0              180            0              55
   9  Fork            2.481          0.772          1.122          0              90             0              63
  10  Fork            1.626          0.771          -0.422         0              270            0              77
  11  Spatula         -0.043         0.926          -0.302         0              0              0              47
  12  Knife           -1.056         0.853          -1.308         0              90             0              106
  13  Knife           2.488          0.944          1.129          0              0              0              82
  14  SoapBottle      0.446          1.660          -0.697         0              180            0              86
  15  Tomato          -1.991         0.455          1.290          0              270            0              100
  16  Tomato          1.649          0.942          -0.345         0              0              0              47
  17  Bowl            2.777          1.561          -0.578         0              0              0              102
  18  Bowl            1.872          0.112          -0.421         0              180            0              93
  19  Bread           2.754          0.969          1.383          0              0              0              82
  20  Bread           -0.246         0.969          1.214          0              0              0              58
  21  Mug             0.363          1.779          1.520          0              270            0              105
  22  Mug             1.880          1.650          1.390          0              0              0              59
  23  Apple           -1.991         0.492          1.417          0              270            0              100
  24  SoapBottle      -0.785         0.826          -1.400         0              0              0              106
  25  Plate           1.688          0.914          1.383          0              0              0              82
  26  Fork            1.155          0.912          1.129          0              0              0              82
  27  Pot             1.141          0.915          -0.684         0              0              0              47
  28  Bread           0.634          0.969          -0.515         0              0              0              47
  29  Egg             -0.766         0.858          -1.155         0              90             0              106
  30  Kettle          2.188          1.655          1.432          0              0              0              71
  31  Tomato          2.221          0.942          1.383          0              0              0              82
  32  Cup             0.123          0.763          -0.762         0              0              0              104
  33  Spatula         0.053          0.780          -0.596         0              180            0              104
  34  Apple           -0.694         0.889          -1.257         0              90             0              106
  35  Pan             2.715          1.288          -0.709         0              0              0              102
  36  Lettuce         1.155          0.992          1.383          0              0              0              82
  37  SaltShaker      2.198          0.111          -0.538         0              180            0              88
  38  Knife           0.193          0.798          -0.596         0              270            0              104
  39  Potato          2.962          1.053          -0.578         0              0              0              102
  40  PepperShaker    -0.694         0.817          -1.360         0              90             0              106
  41  ButterKnife     2.221          0.911          1.129          0              0              0              82
  42  Bowl            2.223          0.112          1.156          0              0              0              83
  43  DishSponge      -0.682         0.820          -1.110         0              0              0              106
  44  Spoon           -0.621         0.822          -1.360         0              90             0              106
  45  Mug             2.962          0.720          -0.473         0              0              0              102
  46  Sink            0.050          0.902          -0.648         0              0              0
  47  CounterTop      1.358          0.947          -0.600         0              0              0
  48  Cabinet         2.986          2.009          1.304          0              0              0
  49  Cabinet         1.022          2.009          -0.607         0              180            0
  50  StoveBurner     0.678          0.923          1.082          0              0              0
  51  Cabinet         2.371          0.402          0.995          0              0              0
  52  Drawer          -0.125         0.792          0.995          0              0              0
  53  StoveBurner     0.281          0.923          1.082          0              0              0
  54  Cabinet         1.025          0.402          0.995          0              0              0
  55  Cabinet         1.023          0.402          -0.296         0              180            0
  56  Cabinet         0.974          2.259          1.304          0              0              0
  57  Cabinet         0.979          2.009          -0.607         0              180            0
  58  CounterTop      -0.158         0.947          1.299          0              0              0
  59  Cabinet         1.725          2.009          1.304          0              0              0
  60  Drawer          2.205          0.792          -0.294         0              180            0
  61  Drawer          1.869          0.792          -0.294         0              180            0
  62  StoveBurner     0.281          0.923          1.347          0              0              0
  63  Drawer          2.512          0.792          0.995          0              0              0
  64  Cabinet         1.673          0.402          -0.296         0              180            0
  65  Drawer          1.524          0.792          0.995          0              0              0
  66  Drawer          1.174          0.792          -0.294         0              180            0
  67  Cabinet         1.720          0.402          0.995          0              0              0
  68  Cabinet         2.348          2.009          -0.607         0              180            0
  69  Cabinet         1.676          2.009          -0.607         0              180            0
  70  Cabinet         1.673          2.009          1.304          0              0              0
  71  Cabinet         2.326          2.009          1.304          0              0              0
  72  Cabinet         2.370          2.009          1.304          0              0              0
  73  Cabinet         0.021          2.009          1.304          0              0              0
  74  Cabinet         1.025          2.009          1.304          0              0              0
  75  Cabinet         -0.274         0.402          0.995          0              0              0
  76  Cabinet         1.675          0.402          0.995          0              0              0
  77  Drawer          1.524          0.792          -0.294         0              180            0
  78  Drawer          2.187          0.792          0.995          0              0              0
  79  Cabinet         2.977          0.402          0.995          0              0              0
  80  Drawer          1.862          0.792          0.995          0              0              0
  81  Cabinet         0.072          2.259          1.304          0              0              0
  82  CounterTop      1.917          0.947          1.299          0              0              0
  83  Cabinet         2.328          0.402          0.995          0              0              0
  84  Cabinet         1.723          2.009          -0.607         0              180            0
  85  StoveBurner     0.677          0.923          1.345          0              0              0
  86  Cabinet         0.355          2.009          -0.607         0              180            0
  87  Cabinet         0.332          2.009          -0.607         0              180            0
  88  Cabinet         2.349          0.402          -0.296         0              180            0
  89  Cabinet         -0.284         2.009          -0.607         0              180            0
  90  Faucet          0.061          0.906          -0.903         0              0              0
  91  Drawer          2.837          0.792          0.995          0              0              0
  92  Drawer          1.175          0.792          0.995          0              0              0
  93  Cabinet         1.723          0.402          -0.296         0              180            0
  94  StoveKnob       0.588          1.093          1.557          287.970        0              0
  95  StoveKnob       0.188          1.093          1.557          287.970        0              0
  96  StoveKnob       0.749          1.093          1.557          287.970        0              0
  97  StoveKnob       0.338          1.093          1.557          287.970        0              0
  98  Toaster         1.934          0.900          -0.717         0              0              0
  99  LightSwitch     -1.662         1.427          1.649          0              180            0
 100  GarbageCan      -1.965         -0.029         1.358          0              270            0
 101  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 102  Fridge          3.043          0.0            -0.709         0              0              0
 103  Window          -2.183         1.501          -0.014         90             270            0
 104  SinkBasin       0.043          0.755          -0.651         0              0              0
 105  Microwave       0.531          1.675          1.437          0              180            0
 106  DiningTable     -0.836         8.404          -1.258         0              0              0
 107  Chair           -1.611         0.002          -1.185         0              45             0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: turn around and across the room | STEP 2: pick up the knife from the counter  | STEP 3: turn to the right | STEP 4: slice the loaf of bread  | STEP 5: turn to the left and across the room | STEP 6: towards the grey table leave the knife on top of that table | STEP 7: turn to the left and across the room | STEP 8: pick up a slice of bread | STEP 9: turn to the left and across the room | STEP 10: face he grey table leave the slice of bread on top of the table | STEP 11: pick up the knife from the table | STEP 12: turn to the left | STEP 13: towards the counter slice another slice of bread  | STEP 14: turn to the  right and across the room | STEP 15: face the grey table leave the knife on top the table | STEP 16: turn to the left and across the room | STEP 17: pick up a slice of bread | STEP 18: turn to the right | STEP 19: face the grey table leave the slice of bread on top of the table | END