Task: Preparing bread and taking it to the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          -0.25          0              270            0
   1  Potato          -0.167         0.977          2.478          0              90             0              52
   2  Potato          2.096          0.378          -0.460         0              270            0              73
   3  DishSponge      -0.425         0.790          0.881          0              0              0              79
   4  DishSponge      1.941          0.745          0.446          0              0              0              61
   5  ButterKnife     0.735          0.802          2.695          0              0              0              76
   6  Pot             1.298          0.081          2.523          0              90             0              58
   7  Spatula         1.872          0.760          0.721          0              270            0              61
   8  Egg             2.279          1.365          -0.007         0              270            0              73
   9  Knife           -0.042         0.816          1.386          0              0              0              79
  10  SoapBottle      1.840          0.939          0.435          0              270            0              63
  11  SoapBottle      0.174          0.938          2.757          0              0              0              52
  12  Bowl            2.096          0.335          -0.279         0              270            0              73
  13  Bowl            -0.042         0.787          0.377          0              0              0              79
  14  SaltShaker      -0.042         0.785          1.049          0              0              0              79
  15  PepperShaker    0.779          0.076          2.601          0              0              0              59
  16  Lettuce         -0.053         0.999          2.827          0              0              0              52
  17  Lettuce         2.112          1.383          -0.188         0              270            0              73
  18  Mug             1.276          0.790          2.695          0              90             0              76
  19  Apple           -0.295         0.087          -0.864         0              90             0              74
  20  Apple           2.225          0.988          0.806          0              0              0              63
  21  Egg             1.840          0.980          0.657          0              0              0              63
  22  Lettuce         0.277          0.989          2.611          0              60.216         0              52
  23  Fork            1.802          0.746          0.514          0              90             0              61
  24  SoapBottle      -0.196         0.791          1.386          0              0              0              79
  25  Ladle           1.976          0.791          0.652          0              90             0              61
  26  Ladle           1.850          0.791          1.922          0              90             0              67
  27  Bread           -0.199         0.823          0.813          0              0              0              79
  28  SaltShaker      1.917          0.933          0.361          0              0              0              63
  29  Potato          2.059          0.378          -0.007         0              270            0              73
  30  Pan             2.140          0.935          1.504          0              180            0              47
  31  WineBottle      -0.115         0.082          2.129          0              0              0              46
  32  Spatula         2.118          0.949          1.993          0              341.649        0              52
  33  Knife           -0.119         0.816          1.217          0              90             0              79
  34  Tomato          2.207          0.648          -0.007         0              270            0              73
  35  Apple           -0.272         0.840          1.217          0              0              0              79
  36  ButterKnife     1.917          0.938          0.583          0              180            0              63
  37  Pot             1.854          0.937          1.497          0              0              0              56
  38  PepperShaker    -0.348         0.932          2.504          0              0              0              52
  39  Cup             2.206          1.499          2.104          0              0              0              55
  40  DishSponge      0.033          0.790          0.545          0              0              0              79
  41  Plate           -0.312         0.781          0.409          0              0              0              79
  42  Spoon           1.223          0.796          2.64           0              0              0              76
  43  Mug             1.846          0.077          0.372          0              0              0              49
  44  Bowl            2.168          1.318          -0.369         0              270            0              73
  45  Cabinet         2.041          2.113          2.618          0              0              0
  46  Cabinet         0.126          0.388          1.774          0              0              0
  47  StoveBurner     2.140          0.929          1.504          0              180            0
  48  Cabinet         1.760          0.388          2.346          0              0              0
  49  Cabinet         1.760          0.388          0.869          0              0              0
  50  Cabinet         2.041          1.810          0.283          0              0              0
  51  Drawer          -0.024         0.774          2.061          0              0              0
  52  CounterTop      1.065          0.973          2.666          0              0              0
  53  Cabinet         1.969          2.113          2.618          0              0              0
  54  StoveBurner     2.140          0.929          1.106          0              0              0
  55  Cabinet         2.041          2.113          1.809          0              0              0
  56  StoveBurner     1.866          0.929          1.504          0              180            0
  57  Cabinet         2.041          2.113          1.766          0              0              0
  58  Cabinet         1.514          0.388          2.360          0              0              0
  59  Cabinet         0.351          0.388          2.360          0              0              0
  60  Cabinet         2.041          1.810          0.872          0              0              0
  61  Drawer          2.167          0.774          0.582          0              0              0
  62  Cabinet         2.041          2.113          0.892          0              0              0
  63  CounterTop      2.060          0.973          0.583          0              0              0
  64  Sink            0.935          0.936          2.646          0              0              0
  65  Curtains        0.964          2.061          2.989          0              0              0
  66  StoveBurner     1.863          0.929          1.106          0              0              0
  67  Drawer          1.911          0.774          2.060          0              0              0
  68  StoveKnob       2.326          1.092          1.610          288.013        90             0
  69  StoveKnob       2.326          1.092          1.460          288.013        90             0
  70  StoveKnob       2.326          1.092          1.210          288.013        90             0
  71  StoveKnob       2.326          1.092          1.050          288.013        90             0
  72  Toaster         2.126          0.926          0.572          0              270            0
  73  Fridge          2.104          0.0            -0.279         0              270            0
  74  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  75  LightSwitch     0.354          1.518          -1.031         0              0              0
  76  SinkBasin       0.903          0.784          2.640          0              0              0
  77  Microwave       -0.310         0.926          2.077          0              90             0
  78  CoffeeMachine   2.084          0.927          2.667          0              225            0
  79  DiningTable     -0.153         -0.000         1.073          0              270            0
  80  Faucet          1.175          0.926          2.950          270            90             0
  81  Faucet          0.686          0.926          2.950          270            90             0
  82  Chair           -0.077         0.002          0.196          0              15.000         0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn around and move to the counter between the stove and the fridge | STEP 2: Pick up the knife from the right of the egg | STEP 3: Turn around and move to the white table | STEP 4: Slice the bread on the table between the two sponges | STEP 5: Look down at the table | STEP 6: Put the knife down on the table and against the bread | STEP 7: Look up slightly at the bread | STEP 8: Pick up a slice of bread | STEP 9: Turn around and move to the fridge | STEP 10: Open the fridge, place the slice inside, close the fridge, wait, open the fridge, remove the slice and then close the fridge | STEP 11: Turn around and go back to the white table | STEP 12: put the slice of bread on the table between the sponge and the plate | END