Task: Slice a bread, cool a slice, put it in the bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.930          -0.5           0              90             0
   1  Pan             3.044          1.464          -1.599         0              270            0              65
   2  Potato          0.773          1.111          -1.448         0              0              0              113
   3  Ladle           -0.717         0.937          0.623          0              90             0              71
   4  DishSponge      0.330          0.130          -1.515         0              0              0              57
   5  ButterKnife     3.277          0.900          -0.698         0              0              0              66
   6  Glassbottle     3.244          1.465          -1.284         0              0              0              81
   7  Glassbottle     3.141          0.176          -0.356         0              0              0              78
   8  Spatula         3.07           0.768          0.098          0              90             0              112
   9  Spatula         -0.285         0.915          -1.450         0              135            0              88
  10  Fork            0.012          0.900          -1.337         0              45             0              88
  11  Fork            -0.991         0.707          1.605          0              90             0              60
  12  CellPhone       -0.987         0.897          -0.746         0              45             0              67
  13  CellPhone       0.336          0.897          -1.588         0              0              0              88
  14  Mug             0.404          1.254          -1.741         0              0              0              83
  15  Mug             3.049          0.966          0.591          0              270            0              110
  16  Apple           0.851          1.321          -1.475         0              0              0              113
  17  Apple           0.356          0.981          0.426          0              0              0              98
  18  Lettuce         1.086          1.139          -1.503         0              0              0              113
  19  SaltShaker      0.710          0.904          0.426          0              0              0              98
  20  PepperShaker    0.239          0.317          -1.393         0              0              0              73
  21  Bowl            1.160          1.671          -1.689         0              0              0              58
  22  Bowl            3.031          1.461          -1.186         0              0              0              81
  23  SoapBottle      0.022          0.909          -1.445         0              0              0              88
  24  SoapBottle      -0.935         0.909          0.623          0              0              0              67
  25  Egg             -1.018         1.050          1.364          0              90             0              115
  26  Knife           0.179          0.925          -1.660         0              0              0              88
  27  Knife           3.200          0.926          -0.399         0              0              0              66
  28  Plate           0.808          1.687          -1.550         0              0              0              82
  29  Glassbottle     -0.214         1.264          -1.619         0              45             0              84
  30  SoapBottle      0.710          0.917          0.527          0              0              0              98
  31  Potato          3.069          0.785          -0.100         0              90             0              112
  32  Fork            0.445          0.911          0.627          0              270            0              98
  33  Ladle           -1.008         0.937          0.176          0              0              0              67
  34  Pot             1.229          0.908          0.322          0              270            0              98
  35  Kettle          -0.419         0.902          -1.269         0              315            0              69
  36  Spatula         1.360          0.923          0.605          0              0              0              98
  37  Knife           -0.862         0.925          -0.270         0              180            0              67
  38  Lettuce         0.967          0.973          0.464          0              0              0              98
  39  Cup             0.622          0.905          0.727          0              0              0              98
  40  SaltShaker      3.070          0.709          -0.268         0              180            0              63
  41  Egg             -1.052         1.050          1.258          0              90             0              115
  42  PepperShaker    3.212          1.260          -0.885         0              0              0              80
  43  ButterKnife     2.966          0.900          0.947          0              180            0              66
  44  Apple           1.164          0.787          -1.407         0              0              0              113
  45  Pan             -0.420         0.902          -0.920         0              135            0              62
  46  Bread           0.836          0.989          0.747          0              0              0              98
  47  CellPhone       -0.909         0.515          -0.098         0              0              0              94
  48  DishSponge      3.152          0.746          0.165          0              90             0              112
  49  Tomato          3.373          0.937          -0.279         0              0              0              66
  50  Spoon           0.513          0.513          -1.515         0              90             0              53
  51  Bowl            -0.789         0.897          0.399          0              0              0              67
  52  Mug             1.086          1.242          -1.475         0              0              0              113
  53  Drawer          0.376          0.572          -1.509         0              0              0
  54  Drawer          3.020          0.769          -0.783         0              180            0
  55  Drawer          -0.860         0.577          1.429          0              0              0
  56  StoveBurner     -0.600         0.897          -1.090         0              135            0
  57  Drawer          0.376          0.191          -1.509         0              0              0
  58  Cabinet         1.402          1.874          -1.259         0              0              0
  59  Cabinet         -0.202         1.963          -1.328         0              0              0
  60  Drawer          -0.860         0.765          1.429          0              0              0
  61  Drawer          -0.677         0.765          -0.700         0              0              0
  62  StoveBurner     -0.420         0.897          -0.920         0              135            0
  63  Drawer          3.020          0.769          -0.407         0              180            0
  64  Drawer          -0.860         0.577          0.663          0              0              0
  65  Cabinet         2.819          1.768          -1.850         0              0              0
  66  CounterTop      3.111          0.936          0.019          0              0              0
  67  CounterTop      -1.007         0.935          -0.039         0              0              0
  68  Drawer          -0.860         0.385          0.663          0              0              0
  69  StoveBurner     -0.419         0.897          -1.269         0              315            0
  70  Drawer          -0.047         0.573          -1.324         0              0              0
  71  Drawer          -0.860         0.765          0.663          0              0              0
  72  Drawer          -0.860         0.385          -0.100         0              0              0
  73  Drawer          0.376          0.380          -1.509         0              0              0
  74  Drawer          -0.860         0.765          -0.100         0              0              0
  75  Drawer          0.376          0.765          -1.509         0              0              0
  76  Cabinet         2.849          0.419          0.409          0              0              0
  77  Drawer          -0.047         0.765          -1.324         0              0              0
  78  Cabinet         2.849          0.419          -0.610         0              0              0
  79  Cabinet         2.849          0.419          -0.959         0              0              0
  80  Cabinet         3.069          1.666          -0.709         0              0              0
  81  Cabinet         2.819          1.768          -1.047         0              0              0
  82  Cabinet         0.620          1.874          -1.259         0              0              0
  83  Cabinet         0.140          1.666          -1.559         0              0              0
  84  Cabinet         -0.189         1.666          -1.340         0              0              0
  85  Cabinet         -0.709         1.963          -0.819         0              0              0
  86  Cabinet         -0.920         1.665          -0.620         0              0              0
  87  Drawer          -0.860         0.190          -0.100         0              0              0
  88  CounterTop      0.133          0.935          -1.457         0              0              0
  89  Drawer          3.020          0.769          0.695          0              180            0
  90  Drawer          -0.677         0.577          -0.700         0              0              0
  91  Drawer          -0.860         0.190          1.429          0              0              0
  92  Drawer          -0.047         0.192          -1.324         0              0              0
  93  Drawer          -0.677         0.193          -0.700         0              0              0
  94  Drawer          -0.860         0.577          -0.100         0              0              0
  95  Sink            3.078          0.887          0.086          0              0              0
  96  StoveBurner     -0.239         0.897          -1.089         0              315            0
  97  Drawer          -0.860         0.190          0.663          0              0              0
  98  CounterTop      1.210          0.937          0.463          0              0              0
  99  Drawer          -0.047         0.381          -1.324         0              0              0
 100  Drawer          -0.677         0.387          -0.700         0              0              0
 101  Mirror          -1.295         1.630          0.045          0              0              0
 102  Drawer          -0.860         0.385          1.429          0              0              0
 103  HousePlant      3.196          0.891          -0.368         0              0              0
 104  StoveKnob       -0.090         0.790          -1.009         270            45             0
 105  StoveKnob       -0.280         0.790          -0.819         270            45             0
 106  StoveKnob       -0.180         0.790          -0.920         270            45             0
 107  StoveKnob       -0.370         0.790          -0.720         270            45             0
 108  GarbageCan      3.137          0.025          1.545          0              225            0
 109  Window          3.703          1.675          0.046          90             90             0
 110  CoffeeMachine   3.214          0.890          0.697          0              270            0
 111  LightSwitch     2.592          1.309          -1.880         0              0              0
 112  SinkBasin       3.069          0.736          0.108          0              90             0
 113  Fridge          1.008          0.029          -1.467         0              0              0
 114  Toaster         -1.035         0.873          -0.396         0              90             0
 115  Microwave       -1.034         0.874          1.428          0              90             0
 116  Faucet          3.305          0.886          0.094          270            180            0
 117  NorthWall
 118  EastWall
 119  SouthWall
 120  WestWall

Plan:
STEP 1: Turn around, go to the counter  | STEP 2: Pick up the knife on the counter | STEP 3: Turn right, go forward, turn right at the table | STEP 4: Slice the bread on the table | STEP 5: Turn right, go forward, turn right and go to the fridge | STEP 6: Put the knife in the fridge | STEP 7: Turn right, go forward, turn right and go to the table | STEP 8: Pick up a bread slice from the table | STEP 9: Turn right, go forward, turn right and go to the fridge | STEP 10: Put the bread slice in the fridge, wait, pick up the bread slice from the fridge | STEP 11: Turn left, go forward, turn left go forward, turn right in front of the bin | STEP 12: Put the bread slice in the bin | END