Task: slice a loaf of bread put a slice on 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           0.5            0.900          1.0            0              0              0
   1  DishSponge      -0.876         0.937          0.921          0              0              0              66
   2  DishSponge      1.285          0.937          1.007          0              0              0              46
   3  ButterKnife     -1.126         0.937          0.843          0              0              0              66
   4  Spoon           -1.043         0.939          0.687          0              0              0              66
   5  Pot             -1.109         0.930          1.470          0              0              0              43
   6  Egg             1.710          0.973          1.458          0              0              0              46
   7  Cup             -1.076         1.826          0.462          0              0              0              55
   8  Cup             -0.976         0.564          0.118          0              90             0              73
   9  Plate           1.391          0.086          0.777          0              0              0              67
  10  Plate           1.391          0.086          2.251          0              0              0              50
  11  Knife           -0.896         0.768          2.245          0              90             0              42
  12  Knife           -0.960         0.959          0.998          0              0              0              66
  13  Tomato          -1.065         1.560          -0.110         0              90             0              73
  14  Tomato          -0.988         0.876          -0.110         0              90             0              73
  15  SaltShaker      -0.827         0.743          2.585          0              180            0              42
  16  SaltShaker      -0.792         0.743          2.313          0              180            0              42
  17  PepperShaker    -0.723         0.743          2.449          0              180            0              42
  18  Mug             1.346          1.067          0.376          0              0              0              47
  19  Apple           -0.877         1.548          0.119          0              90             0              73
  20  Lettuce         1.460          1.014          1.677          5.162          59.535         356.178        68
  21  SoapBottle      -0.884         0.081          2.169          0              0              0              62
  22  Bread           1.516          1.005          0.806          0              0              0              46
  23  Fork            -0.861         0.747          2.381          0              270            0              42
  24  Tomato          -1.211         0.999          2.234          0              0              0              41
  25  Bowl            -1.018         1.315          0.118          0              90             0              73
  26  Pot             -1.109         0.930          1.865          0              0              0              65
  27  Spatula         1.483          0.761          0.780          0              90             0              71
  28  Knife           -0.827         0.768          1.050          0              270            0              64
  29  SaltShaker      -0.683         0.078          2.313          0              0              0              62
  30  Apple           1.489          0.119          2.879          0              0              0              79
  31  PepperShaker    -0.827         0.743          0.711          0              180            0              64
  32  ButterKnife     -0.876         0.937          0.843          0              0              0              66
  33  Potato          -1.018         1.531          0.042          0              90             0              73
  34  Plate           -1.077         1.833          -0.127         0              0              0              54
  35  DishSponge      1.662          1.948          1.877          0              0              0              58
  36  Egg             1.422          0.878          1.426          0              180            0              83
  37  Cup             1.340          1.745          -0.137         0              0              0              49
  38  Pan             1.378          1.737          0.392          0              270            0              49
  39  Spoon           1.275          0.747          1.052          0              90             0              71
  40  Mug             1.528          1.002          2.345          0              270            0              46
  41  CounterTop      -0.973         0.973          2.386          0              0              0
  42  Drawer          -0.783         0.774          2.381          0              180            0
  43  StoveBurner     -1.108         0.922          1.470          0              0              0
  44  Drawer          1.370          0.774          2.391          0              0              0
  45  Stool           -0.748         0.008          3.116          0              0              0
  46  CounterTop      1.504          0.973          2.309          0              0              0
  47  Cabinet         1.219          1.388          0.591          0              0              0
  48  Cabinet         1.500          2.113          1.164          0              0              0
  49  Cabinet         1.219          2.010          0.591          0              0              0
  50  Cabinet         1.219          0.388          2.105          0              0              0
  51  Cabinet         1.219          0.553          0.591          0              0              0
  52  Cabinet         -0.913         2.113          1.164          0              0              0
  53  Cabinet         -0.633         0.388          0.627          0              0              0
  54  Cabinet         -0.913         2.050          -0.329         0              0              0
  55  Cabinet         -0.913         2.113          0.583          0              0              0
  56  Cabinet         -0.913         2.113          2.082          0              0              0
  57  Cabinet         -0.913         2.113          1.207          0              0              0
  58  Cabinet         1.500          2.113          2.082          0              0              0
  59  Cabinet         1.500          2.113          1.207          0              0              0
  60  Cabinet         1.500          1.810          2.691          0              0              0
  61  Cabinet         1.500          1.810          2.101          0              0              0
  62  Cabinet         -0.633         0.388          2.105          0              0              0
  63  Cabinet         -0.911         1.810          2.700          0              180            0
  64  Drawer          -0.783         0.774          0.915          0              180            0
  65  StoveBurner     -1.108         0.922          1.865          0              0              0
  66  CounterTop      -0.972         0.973          0.921          0              0              0
  67  Cabinet         1.219          0.388          0.631          0              0              0
  68  Sink            1.544          0.869          1.639          0              180            0
  69  StoveBurner     -0.832         0.922          1.865          0              0              0
  70  StoveBurner     -0.831         0.922          1.470          0              0              0
  71  Drawer          1.370          0.774          0.916          0              0              0
  72  Cabinet         -0.911         1.810          2.111          0              180            0
  73  Fridge          -1.001         0.0            0.119          0              0              0
  74  StoveKnob       -0.648         0.926          1.923          0              270            0
  75  StoveKnob       -0.648         0.926          1.363          0              270            0
  76  StoveKnob       -0.648         0.926          1.513          0              270            0
  77  StoveKnob       -0.648         0.926          1.763          0              270            0
  78  Toaster         -1.002         0.926          2.561          0              90             0
  79  GarbageCan      1.451          -0.029         2.912          0              0              0
  80  Microwave       1.632          1.480          1.645          0              270            0
  81  Window          0.224          1.601          3.509          90             0              0
  82  CoffeeMachine   1.692          0.926          2.453          0              270            0
  83  SinkBasin       1.461          0.833          1.369          0              180            0
  84  LightSwitch     0.451          1.412          -1.674         0              0              0
  85  Faucet          1.707          0.925          1.363          0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: turn to the left  | STEP 2: pick up the knife from the counter  | STEP 3: turn to the left and across the room | STEP 4: slice the loaf of bread | STEP 5: turn to the left and across the room  | STEP 6: put the knife in the top cabinet | STEP 7: turn to the left and across the room | STEP 8: get a couple of slices of bread  | STEP 9: turn to the right and across the room | STEP 10: open the refrigerator and put the slices of bread inside the refrigerator get the slices back out | STEP 11: turn to the right and across the room | STEP 12: put the slices on the counter by the coffee machine | END