Task: Preparing bread and putting it on 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           0.5            0.901          0.25           0              270            0
   1  Potato          2.250          0.642          -0.188         0              270            0              68
   2  ButterKnife     0.735          0.802          2.695          0              0              0              71
   3  Spatula         -0.042         0.805          1.217          0              0              0              74
   4  Spoon           -0.349         0.792          1.217          0              0              0              74
   5  Spoon           -0.033         0.747          2.061          0              0              0              46
   6  Fork            -0.119         0.791          0.545          0              180            0              74
   7  Egg             -0.328         1.078          2.121          0              90             0              72
   8  Egg             -0.349         0.833          1.049          0              0              0              74
   9  Cup             1.925          0.080          1.844          0              0              0              43
  10  Tomato          2.207          0.648          -0.460         0              270            0              68
  11  Bowl            2.056          1.320          -0.097         0              270            0              68
  12  PepperShaker    2.002          0.077          2.128          0              0              0              43
  13  PepperShaker    -0.053         0.932          2.757          0              0              0              47
  14  Mug             0.033          0.785          1.049          0              0              0              74
  15  Apple           -0.041         0.987          2.399          0              0              0              47
  16  Egg             -0.395         1.078          2.014          0              90             0              72
  17  Lettuce         1.118          0.857          2.584          0              0              0              71
  18  Fork            2.074          0.938          2.162          0              0              0              47
  19  SoapBottle      2.074          0.938          1.866          0              0              0              47
  20  Ladle           -0.119         0.835          0.377          0              90             0              74
  21  Ladle           -0.096         0.942          2.546          6.888          45             340.409        47
  22  Bread           -0.199         0.823          0.813          0              0              0              74
  23  SaltShaker      1.997          0.932          2.260          0              0              0              47
  24  Potato          2.023          0.378          -0.369         0              270            0              68
  25  Pan             2.140          0.935          1.504          0              180            0              42
  26  WineBottle      -0.390         0.038          -0.801         0              90             0              69
  27  Spatula         1.884          0.761          2.060          0              90             0              62
  28  Knife           0.072          0.771          2.197          0              270            0              46
  29  Tomato          0.060          0.983          2.688          0              0              0              47
  30  Apple           0.576          0.845          2.750          0              0              0              71
  31  ButterKnife     1.917          0.938          0.435          0              180            0              58
  32  Pot             1.854          0.937          1.497          0              0              0              51
  33  PepperShaker    -0.196         0.785          1.386          0              0              0              74
  34  Cup             1.298          0.079          2.484          0              0              0              53
  35  DishSponge      2.127          1.503          0.695          0              0              0              55
  36  Plate           -0.312         0.781          0.409          0              0              0              74
  37  Spoon           0.629          0.796          2.584          0              0              0              71
  38  Mug             2.064          0.989          2.462          0              225            0              73
  39  Bowl            1.887          0.078          1.986          0              0              0              43
  40  Cabinet         2.041          2.113          2.618          0              0              0
  41  Cabinet         0.126          0.388          1.774          0              0              0
  42  StoveBurner     2.140          0.929          1.504          0              180            0
  43  Cabinet         1.760          0.388          2.346          0              0              0
  44  Cabinet         1.760          0.388          0.869          0              0              0
  45  Cabinet         2.041          1.810          0.283          0              0              0
  46  Drawer          -0.024         0.774          2.061          0              0              0
  47  CounterTop      1.065          0.973          2.666          0              0              0
  48  Cabinet         1.969          2.113          2.618          0              0              0
  49  StoveBurner     2.140          0.929          1.106          0              0              0
  50  Cabinet         2.041          2.113          1.809          0              0              0
  51  StoveBurner     1.866          0.929          1.504          0              180            0
  52  Cabinet         2.041          2.113          1.766          0              0              0
  53  Cabinet         1.514          0.388          2.360          0              0              0
  54  Cabinet         0.351          0.388          2.360          0              0              0
  55  Cabinet         2.041          1.810          0.872          0              0              0
  56  Drawer          2.167          0.774          0.582          0              0              0
  57  Cabinet         2.041          2.113          0.892          0              0              0
  58  CounterTop      2.060          0.973          0.583          0              0              0
  59  Sink            0.935          0.936          2.646          0              0              0
  60  Curtains        0.964          2.061          2.989          0              0              0
  61  StoveBurner     1.863          0.929          1.106          0              0              0
  62  Drawer          1.911          0.774          2.060          0              0              0
  63  StoveKnob       2.326          1.092          1.610          288.013        90             0
  64  StoveKnob       2.326          1.092          1.460          288.013        90             0
  65  StoveKnob       2.326          1.092          1.210          288.013        90             0
  66  StoveKnob       2.326          1.092          1.050          288.013        90             0
  67  Toaster         2.126          0.926          0.572          0              270            0
  68  Fridge          2.104          0.0            -0.279         0              270            0
  69  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  70  LightSwitch     0.354          1.518          -1.031         0              0              0
  71  SinkBasin       0.903          0.784          2.640          0              0              0
  72  Microwave       -0.310         0.926          2.077          0              90             0
  73  CoffeeMachine   2.084          0.927          2.667          0              225            0
  74  DiningTable     -0.153         -0.000         1.073          0              270            0
  75  Faucet          1.175          0.926          2.950          270            90             0
  76  Faucet          0.686          0.926          2.950          270            90             0
  77  Chair           -0.077         0.002          0.196          0              15.000         0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn around and move to the counter between the fridge and the stove | STEP 2: Pick up the knife from below the toaster | STEP 3: Turn around and move to the white table | STEP 4: Slice the bread on the table to the right of the plate and fork | STEP 5: Turn around towards the stove | STEP 6: Open the cabinet to the right of the stove, put the knife inside and then close the cabinet | STEP 7: Turn around to face the white table | STEP 8: Pick up a slice of bread from the table | STEP 9: Turn around and move to the fridge | STEP 10: Open the fridge, place the slice on the top shelf, close the fridge door, wait, open the fridge door, remove the slice of bread and then close the door | STEP 11: Turn around and move to the white table | STEP 12: Place the bread on the table below the fork | END