Task: Slice bread, put knife in the cabinet, cook a slice and put it in the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.931          -0.25          0              270            0
   1  Potato          -1.034         1.017          2.153          0              180            0              58
   2  Potato          1.854          0.175          2.414          0              270            0              59
   3  DishSponge      0.740          1.046          -1.828         0              0              0              43
   4  DishSponge      -0.222         0.203          -1.553         0              0              0              52
   5  ButterKnife     -0.517         1.046          -1.289         0              0              0              43
   6  Spoon           1.701          1.044          0.738          0              0              0              45
   7  Spatula         -0.775         1.061          -1.720         0              90             0              43
   8  Spatula         -0.260         1.061          -1.612         0              270            0              43
   9  Knife           0.516          1.069          -0.002         0              180            0              45
  10  Knife           0.848          1.069          0.720          0              0              0              45
  11  SoapBottle      -1.183         0.203          -1.193         0              90             0              51
  12  SaltShaker      -0.432         1.041          -1.505         0              0              0              43
  13  PepperShaker    0.989          1.041          -1.397         0              0              0              43
  14  PepperShaker    -1.416         2.023          -1.264         0              0              0              50
  15  Apple           1.238          1.090          -1.289         0              0              0              43
  16  Apple           0.936          1.097          0.331          0              90             0              41
  17  SoapBottle      1.589          1.020          -1.484         0              0              0              49
  18  Apple           1.241          0.943          0.231          0              90             0              40
  19  Potato          -1.194         1.769          -1.331         0              0              0              57
  20  Fork            -0.346         1.047          -1.612         0              0              0              43
  21  Kettle          -1.105         0.203          -1.482         0              0              0              51
  22  Pan             0.979          0.199          -1.339         0              0              0              54
  23  Tomato          1.879          1.094          0.091          0              0              0              45
  24  SaltShaker      1.263          1.560          -1.463         0              0              0              47
  25  Egg             0.848          1.108          0.331          0              90             0              41
  26  Cup             0.160          1.043          0.522          0              0              0              45
  27  Spatula         1.347          1.058          0.807          0              0              0              45
  28  Knife           0.160          1.069          0.199          0              180            0              45
  29  Lettuce         0.858          1.103          0.135          30.591         304.297        0              41
  30  ButterKnife     0.109          1.031          0.368          0              0              0              45
  31  PepperShaker    0.740          1.041          -1.289         0              0              0              43
  32  DishSponge      1.347          1.042          0.676          0              0              0              45
  33  Plate           -1.184         2.041          -1.482         0              0              0              50
  34  Bread           0.405          1.104          0.352          0              337.138        0              45
  35  Spoon           0.906          1.048          -1.181         0              0              0              43
  36  Pot             0.389          1.053          -1.630         0              0              0              39
  37  Mug             1.765          1.081          0.331          0              270            0              61
  38  Bowl            0.885          1.563          -1.614         0              0              0              47
  39  StoveBurner     0.389          1.043          -1.630         0              0              0
  40  SinkBasin       1.211          0.882          0.236          0              90             0
  41  Sink            0.928          0.941          0.324          0              90             0
  42  StoveBurner     0.000          1.048          -1.399         0              0              0
  43  CounterTop      0.196          1.082          -1.504         0              0              0
  44  StoveBurner     0.5            1.048          -1.399         0              0              0
  45  CounterTop      0.968          1.078          0.415          0              0              0
  46  StoveBurner     0.120          1.043          -1.630         0              0              0
  47  Cabinet         1.322          1.955          -1.309         0              0              0
  48  Cabinet         -0.866         1.955          -1.309         0              0              0
  49  Cabinet         1.993          1.403          -1.110         0              0              0
  50  Cabinet         -1.547         2.001          -1.110         0              0              0
  51  Cabinet         -1.526         0.593          -1.110         0              0              0
  52  Cabinet         -0.852         0.589          -1.110         0              0              0
  53  Cabinet         1.990          0.593          -1.110         0              0              0
  54  Cabinet         1.336          0.589          -1.110         0              0              0
  55  StoveBurner     0.250          1.048          -1.399         0              0              0
  56  Toaster         -0.550         1.035          -1.776         0              0              0
  57  Microwave       -1.189         1.624          -1.284         0              0              0
  58  Fridge          -1.286         0.020          1.832          0              90             0
  59  GarbageCan      1.856          -0.019         2.386          0              270            0
  60  LightSwitch     1.016          1.360          2.619          0              180            0
  61  CoffeeMachine   1.929          1.031          0.440          0              270            0
  62  StoveKnob       0.0            1.046          -1.220         0              0              0
  63  StoveKnob       0.090          1.046          -1.220         0              0              0
  64  StoveKnob       0.246          1.046          -1.220         0              0              0
  65  StoveKnob       0.490          1.046          -1.220         0              0              0
  66  StoveKnob       0.389          1.046          -1.220         0              0              0
  67  Faucet          1.277          1.265          0.384          0              90             0
  68  Chair           0.343          0.031          0.976          0              166.747        0
  69  Chair           1.008          0.031          1.034          0              180            0
  70  Chair           1.575          0.031          1.050          0              210.000        0
  71  NorthWall
  72  EastWall
  73  SouthWall
  74  WestWall

Plan:
STEP 1: Walk towards the counter next to the sink | STEP 2: Grab the yellow knife from the counter | STEP 3: Look up from the table | STEP 4: Slice the bread on the counter | STEP 5: Walk with the knife towards the stove cabinet | STEP 6: Open the cabinet drawer and put knife in there | STEP 7: Walk towards the sink counter | STEP 8: Grab a slice of bread from the counter | STEP 9: Walk towards the microwave with the slice of bread | STEP 10: Put the bread slice in the microwave, cook it and take it out | STEP 11: Walk with the bread slice towards the stove counter | STEP 12: Place the bread slice on the counter | END