Task: place a cold bread slice in the oven

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          1.0            0              270            0
   1  Potato          2.893          0.806          4.307          0              225            0              60
   2  Potato          1.895          1.903          -1.843         0              0              0              105
   3  Ladle           2.650          0.074          0.119          0              90             0              86
   4  Ladle           2.222          2.318          -1.871         0              0              0              87
   5  ButterKnife     -0.661         0.802          0.454          0              0              0              61
   6  ButterKnife     2.370          1.026          1.550          0              136.999        0              59
   7  WineBottle      2.231          1.027          1.699          0              136.999        0              59
   8  Glassbottle     2.194          1.027          1.107          0              136.999        0              59
   9  Glassbottle     1.170          1.027          -1.774         0              90             0              59
  10  Spatula         2.626          0.779          3.821          0              0              0              60
  11  Spoon           -0.669         1.028          1.943          0              0              0              62
  12  Fork            2.801          0.765          3.970          0              270            0              60
  13  Egg             2.414          0.808          3.736          0              329.999        0              60
  14  Cup             1.774          2.279          -1.795         0              0              0              75
  15  Cup             1.409          1.025          -1.987         0              90             0              59
  16  Knife           -0.794         1.052          2.556          0              0              0              62
  17  Tomato          -0.858         0.388          -0.738         0              90             0              103
  18  Tomato          -0.877         1.495          -0.073         0              90             0              103
  19  SoapBottle      2.726          0.763          3.492          0              329.999        0              60
  20  SoapBottle      1.350          1.025          -1.454         0              90             0              59
  21  Bowl            1.926          0.762          3.821          0              270            0              60
  22  Bowl            2.959          1.025          -1.151         0              0              0              59
  23  SaltShaker      -0.661         0.797          2.325          0              0              0              65
  24  SaltShaker      1.230          1.023          -1.454         0              90             0              59
  25  PepperShaker    2.815          0.028          -0.169         0              0              0              85
  26  PepperShaker    2.478          0.760          3.682          0              225            0              60
  27  Lettuce         -0.782         0.874          1.492          0              90             0              116
  28  Lettuce         -0.782         0.874          1.181          0              90             0              116
  29  Mug             -0.715         0.044          0.444          0              0              0              92
  30  Apple           -0.997         0.127          2.842          0              0              0              114
  31  Pan             1.836          1.027          -1.84          0              90             0              57
  32  Glassbottle     -1.013         1.442          -0.073         0              90             0              103
  33  Knife           2.451          0.789          4.145          0              0              0              60
  34  SoapBottle      2.626          0.763          3.970          0              270            0              60
  35  Egg             -0.360         1.071          1.540          0              0              0              62
  36  Fork            -0.661         0.800          0.777          0              0              0              61
  37  Potato          -0.418         1.069          2.556          0              0              0              62
  38  Ladle           1.350          1.066          -1.667         0              90             0              59
  39  Tomato          2.570          0.818          3.614          0              329.999        0              60
  40  Pot             2.578          1.029          0.907          0              136.999        0              59
  41  WineBottle      2.790          1.027          -0.236         0              0              0              59
  42  Plate           -1.028         0.786          -0.406         0              90             0              103
  43  Spatula         2.605          0.779          4.334          0              225            0              60
  44  PaperTowelRoll  -0.347         1.131          1.263          0              0              0              62
  45  Lettuce         2.998          1.085          1.298          0              136.999        0              59
  46  Apple           2.302          0.814          4.145          0              0              0              60
  47  SaltShaker      2.451          0.760          3.97           0              329.999        0              60
  48  PepperShaker    -0.803         0.797          2.556          0              0              0              65
  49  ButterKnife     2.580          0.764          4.099          0              225            0              60
  50  Bread           -0.418         1.095          0.416          0              0              0              62
  51  Cup             2.175          0.763          4.447          0              329.999        0              60
  52  DishSponge      2.788          0.764          4.412          0              225            0              60
  53  Bowl            2.815          0.762          4.124          0              225            0              60
  54  Spoon           2.302          0.765          4.32           0              0              0              60
  55  Mug             -0.803         1.070          0.646          0              90             0              112
  56  Sink            -0.716         1.023          1.333          0              0              0
  57  StoveBurner     1.835          1.018          -1.840         0              90             0
  58  StoveBurner     2.177          1.018          -1.599         0              0              0
  59  CounterTop      2.812          0.992          0.675          0              0              0
  60  DiningTable     2.419          0.003          3.930          0              0              0
  61  Drawer          -0.643         0.828          0.616          0              0              0
  62  CounterTop      -0.813         1.062          2.188          0              0              0
  63  StoveBurner     2.115          1.018          -1.840         0              270            0
  64  Drawer          -0.643         0.831          1.953          0              0              0
  65  Drawer          -0.643         0.833          2.418          0              0              0
  66  Drawer          1.347          0.836          -1.539         0              0              0
  67  Drawer          2.693          0.833          -1.131         0              0              0
  68  Drawer          2.693          0.833          -0.699         0              0              0
  69  Drawer          2.693          0.833          -0.267         0              0              0
  70  Drawer          2.693          0.833          0.163          0              0              0
  71  Drawer          2.524          0.833          0.720          0              2.000          0
  72  Drawer          2.232          0.833          1.036          0              2.000          0
  73  Drawer          1.936          0.833          1.354          0              2.000          0
  74  Drawer          1.646          0.833          1.670          0              2.000          0
  75  Cabinet         1.504          2.475          -1.710         0              0              0
  76  Cabinet         -0.823         2.220          1.621          0              0              0
  77  Cabinet         -0.823         2.220          0.615          0              0              0
  78  Cabinet         1.136          0.388          -1.355         0              0              0
  79  Cabinet         -0.356         0.383          2.626          0              0              0
  80  Cabinet         2.745          2.220          -1.690         0              0              0
  81  Cabinet         1.882          0.383          1.017          0              0              0
  82  Cabinet         1.307          0.473          1.640          0              0              0
  83  Cabinet         1.892          0.383          1.006          0              0              0
  84  Cabinet         2.467          0.383          0.383          0              0              0
  85  Cabinet         2.466          0.383          -0.475         0              0              0
  86  Cabinet         2.466          0.473          0.371          0              0              0
  87  Cabinet         2.386          2.475          -1.710         0              0              0
  88  Cabinet         -0.356         0.383          1.712          0              0              0
  89  Cabinet         2.745          2.220          0.019          0              0              0
  90  Cabinet         -0.663         2.496          0.157          0              0              0
  91  Cabinet         -0.663         2.496          -0.868         0              0              0
  92  Cabinet         -0.356         0.383          0.269          0              0              0
  93  Cabinet         -0.823         2.220          1.603          0              0              0
  94  Cabinet         -0.662         2.234          0.586          0              0              0
  95  Cabinet         2.745          2.220          -0.843         0              0              0
  96  Cabinet         2.745          2.220          -0.827         0              0              0
  97  Cabinet         -0.823         2.220          2.608          0              0              0
  98  Cabinet         2.732          2.226          -1.709         0              0              0
  99  Cabinet         1.137          2.226          -1.709         0              0              0
 100  Cabinet         2.466          0.383          -0.491         0              0              0
 101  Cabinet         2.466          0.383          -1.339         0              0              0
 102  StoveBurner     1.761          1.018          -1.599         0              0              0
 103  Fridge          -0.908         0.0            -0.405         0              0              0
 104  HousePlant      2.517          1.016          1.822          0              0              0
 105  Microwave       1.939          1.745          -1.826         0              0              0
 106  StoveKnob       2.017          1.041          -1.514         0              180            180
 107  StoveKnob       1.934          1.041          -1.514         0              180            180
 108  StoveKnob       2.017          1.041          -1.589         0              180            180
 109  StoveKnob       1.934          1.041          -1.589         0              180            180
 110  Window          1.756          1.608          4.762          90             0              0
 111  HousePlant      2.171          1.004          2.091          0              0              0
 112  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 113  LightSwitch     -0.099         1.410          -2.066         0              0              0
 114  GarbageCan      -0.951         -0.029         2.826          0              0              0
 115  Toaster         -1.007         1.018          2.238          0              90             0
 116  SinkBasin       -0.714         0.805          1.348          0              90             0
 117  Chair           1.615          0.004          4.310          0              107.976        0
 118  Faucet          -1.120         1.013          1.334          0              90             0
 119  Chair           2.759          0.004          3.086          0              358.967        0
 120
 121  NorthWall
 122  EastWall
 123  SouthWall
 124  WestWall

Plan:
STEP 1: turn around and head for the table | STEP 2: pick up the knife on the table | STEP 3: head straight for the coffee maker | STEP 4: slice the bread by the maker | STEP 5: move left to the fridge | STEP 6: place the knife in the fridge | STEP 7: move right to the bread | STEP 8: pick up a slice from the bread | STEP 9: head left to the fridge | STEP 10: place the bread to cool and then take it out | STEP 11: turn around and head for the oven  | STEP 12: place the bread in the oven | END