Task: Slice two bread loafs and place the slices on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.0            0.900          0.0            0              270            0
   1  DishSponge      0.900          1.655          -0.849         0              180            0              54
   2  DishSponge      1.176          0.114          1.156          0              0              0              64
   3  Kettle          0.678          0.964          1.345          0              0              0              82
   4  Kettle          -0.086         0.116          1.117          0              0              0              72
   5  ButterKnife     -0.839         0.820          -1.206         0              180            0              103
   6  ButterKnife     2.488          0.911          1.044          0              0              0              79
   7  Pot             0.281          0.964          1.347          0              0              0              59
   8  Pot             0.281          0.964          1.082          0              0              0              50
   9  Fork            -0.157         0.766          -0.707         0              90             0              101
  10  Fork            2.754          0.912          1.129          0              0              0              79
  11  Spatula         0.054          0.926          -0.330         0              0              0              44
  12  Plate           2.838          1.291          -0.709         0              0              0              99
  13  Cup             0.900          1.653          -0.771         0              180            0              54
  14  Cup             0.193          0.763          -0.707         0              0              0              101
  15  Knife           -0.682         0.853          -1.255         0              270            0              103
  16  Tomato          -1.933         0.455          1.417          0              270            0              97
  17  PepperShaker    -0.734         0.817          -1.255         0              0              0              103
  18  Bread           -0.198         0.969          1.383          0              0              0              55
  19  Lettuce         2.715          1.644          -0.644         0              0              0              99
  20  Mug             3.301          0.835          -0.485         0              270            0              99
  21  SoapBottle      1.649          0.917          -0.345         0              0              0              44
  22  Plate           1.955          0.914          1.299          0              0              0              79
  23  Fork            2.754          0.912          1.299          0              0              0              79
  24  Pot             0.634          0.915          -0.430         0              0              0              44
  25  Bread           2.221          0.969          1.299          0              0              0              79
  26  Egg             0.466          1.822          1.455          0              180            0              102
  27  Kettle          0.710          0.9            -0.772         0              0              0              44
  28  Tomato          -1.962         0.455          1.290          0              270            0              97
  29  Cup             -0.836         0.818          -1.473         0              0              0              103
  30  Spatula         1.141          0.926          -0.684         0              0              0              44
  31  Apple           2.653          0.795          -0.535         0              0              0              99
  32  Pan             0.637          0.960          1.090          0              0              0              47
  33  Lettuce         2.488          0.992          1.383          0              0              0              79
  34  SaltShaker      1.487          1.650          1.546          0              0              0              67
  35  Knife           -0.103         0.944          1.044          0              0              0              55
  36  Potato          0.363          1.819          1.455          0              180            0              102
  37  PepperShaker    -0.621         0.817          -1.308         0              90             0              103
  38  ButterKnife     1.155          0.911          1.383          0              0              0              79
  39  Bowl            0.053          0.763          -0.651         0              0              0              101
  40  DishSponge      1.688          0.911          1.553          0              0              0              79
  41  Spoon           2.543          0.772          1.198          0              0              0              60
  42  Mug             1.428          0.965          -0.577         0              0              0              44
  43  Sink            0.050          0.902          -0.648         0              0              0
  44  CounterTop      1.358          0.947          -0.600         0              0              0
  45  Cabinet         2.986          2.009          1.304          0              0              0
  46  Cabinet         1.022          2.009          -0.607         0              180            0
  47  StoveBurner     0.678          0.923          1.082          0              0              0
  48  Cabinet         2.371          0.402          0.995          0              0              0
  49  Drawer          -0.125         0.792          0.995          0              0              0
  50  StoveBurner     0.281          0.923          1.082          0              0              0
  51  Cabinet         1.025          0.402          0.995          0              0              0
  52  Cabinet         1.023          0.402          -0.296         0              180            0
  53  Cabinet         0.974          2.259          1.304          0              0              0
  54  Cabinet         0.979          2.009          -0.607         0              180            0
  55  CounterTop      -0.158         0.947          1.299          0              0              0
  56  Cabinet         1.725          2.009          1.304          0              0              0
  57  Drawer          2.205          0.792          -0.294         0              180            0
  58  Drawer          1.869          0.792          -0.294         0              180            0
  59  StoveBurner     0.281          0.923          1.347          0              0              0
  60  Drawer          2.512          0.792          0.995          0              0              0
  61  Cabinet         1.673          0.402          -0.296         0              180            0
  62  Drawer          1.524          0.792          0.995          0              0              0
  63  Drawer          1.174          0.792          -0.294         0              180            0
  64  Cabinet         1.720          0.402          0.995          0              0              0
  65  Cabinet         2.348          2.009          -0.607         0              180            0
  66  Cabinet         1.676          2.009          -0.607         0              180            0
  67  Cabinet         1.673          2.009          1.304          0              0              0
  68  Cabinet         2.326          2.009          1.304          0              0              0
  69  Cabinet         2.370          2.009          1.304          0              0              0
  70  Cabinet         0.021          2.009          1.304          0              0              0
  71  Cabinet         1.025          2.009          1.304          0              0              0
  72  Cabinet         -0.274         0.402          0.995          0              0              0
  73  Cabinet         1.675          0.402          0.995          0              0              0
  74  Drawer          1.524          0.792          -0.294         0              180            0
  75  Drawer          2.187          0.792          0.995          0              0              0
  76  Cabinet         2.977          0.402          0.995          0              0              0
  77  Drawer          1.862          0.792          0.995          0              0              0
  78  Cabinet         0.072          2.259          1.304          0              0              0
  79  CounterTop      1.917          0.947          1.299          0              0              0
  80  Cabinet         2.328          0.402          0.995          0              0              0
  81  Cabinet         1.723          2.009          -0.607         0              180            0
  82  StoveBurner     0.677          0.923          1.345          0              0              0
  83  Cabinet         0.355          2.009          -0.607         0              180            0
  84  Cabinet         0.332          2.009          -0.607         0              180            0
  85  Cabinet         2.349          0.402          -0.296         0              180            0
  86  Cabinet         -0.284         2.009          -0.607         0              180            0
  87  Faucet          0.061          0.906          -0.903         0              0              0
  88  Drawer          2.837          0.792          0.995          0              0              0
  89  Drawer          1.175          0.792          0.995          0              0              0
  90  Cabinet         1.723          0.402          -0.296         0              180            0
  91  StoveKnob       0.588          1.093          1.557          287.970        0              0
  92  StoveKnob       0.188          1.093          1.557          287.970        0              0
  93  StoveKnob       0.749          1.093          1.557          287.970        0              0
  94  StoveKnob       0.338          1.093          1.557          287.970        0              0
  95  Toaster         1.934          0.900          -0.717         0              0              0
  96  LightSwitch     -1.662         1.427          1.649          0              180            0
  97  GarbageCan      -1.965         -0.029         1.358          0              270            0
  98  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  99  Fridge          3.043          0.0            -0.709         0              0              0
 100  Window          -2.183         1.501          -0.014         90             270            0
 101  SinkBasin       0.043          0.755          -0.651         0              0              0
 102  Microwave       0.531          1.675          1.437          0              180            0
 103  DiningTable     -0.836         8.404          -1.258         0              0              0
 104  Chair           -1.611         0.002          -1.185         0              45             0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove.  | STEP 2: Pick up the knife. | STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread and a plate. | STEP 4: Use the knife to cut a slice from the loaf of bread. | STEP 5: Head back to the other end of the counter and make a left towards the table draped with a grey cloth.  | STEP 6: Place the knife on the table with the grey table cloth.  | STEP 7: Turn around and head back towards the loaf of bread that was sliced.  | STEP 8: Pick up a slice of bread.  | STEP 9: Head back towards the table with a grey table cloth.  | STEP 10: Place the slice of bread on the table.  | STEP 11: Pick up the knife from the table.  | STEP 12: Turn around and head towards the kitchen counter-top with the unsliced loaf of bread.  | STEP 13: Use the knife to cut a slice from the loaf of bread. | STEP 14: Turn left with the knife and head back towards the table with the grey table cloth.  | STEP 15: Place the knife on the table with the grey table cloth.  | STEP 16: Turn around and head back to the loaf of bread that was just sliced.  | STEP 17: Pick up a slice of bread.  | STEP 18: Turn left and head back towards the table with the grey table cloth.  | STEP 19: Place the slice of bread on the table.  | END