Task: Slice a bread and cool a slice

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          2.0            0              90             0
   1  Potato          -1.486         1.402          3.967          0              180            0              76
   2  DishSponge      0.650          0.822          0.895          0              0              0              47
   3  DishSponge      -2.136         1.398          3.936          0              0              0              48
   4  Pot             0.913          0.850          1.768          0              0              0              68
   5  Pot             0.913          0.850          1.375          0              0              0              46
   6  Spoon           -1.216         0.824          3.545          0              0              0              70
   7  Spoon           -2.707         0.824          3.331          0              0              0              70
   8  Fork            1.099          0.823          2.545          0              90             0              52
   9  Fork            -1.698         0.823          3.535          0              0              0              70
  10  Cup             1.024          0.822          1.028          0              0              0              47
  11  Cup             1.024          0.822          2.458          0              0              0              52
  12  SoapBottle      -1.717         0.127          3.636          0              0              0              69
  13  Tomato          1.024          0.891          2.285          0              0              0              52
  14  Bowl            -2.117         0.125          3.673          0              0              0              73
  15  PepperShaker    -2.542         1.845          2.008          0              0              0              72
  16  SaltShaker      -2.619         1.630          3.097          0              0              0              66
  17  SaltShaker      -1.138         0.819          3.902          0              0              0              70
  18  Apple           0.650          0.884          2.285          0              0              0              52
  19  Plate           0.860          0.812          0.975          0              0              0              47
  20  Fork            0.805          0.692          2.163          0              90             0              41
  21  Bread           0.827          0.861          2.449          0              0              0              47
  22  Spatula         0.712          0.848          2.134          0              200.845        0              52
  23  PaperTowelRoll  1.066          0.932          2.093          0              0              0              52
  24  Potato          -2.851         0.866          3.256          0              0              0              70
  25  SoapBottle      0.931          0.023          2.947          0              90             0              81
  26  Egg             1.099          0.859          0.895          0              0              0              47
  27  Cup             -1.362         0.702          3.774          0              0              0              82
  28  Pot             0.642          0.850          1.768          0              0              0              74
  29  SaltShaker      0.800          0.819          2.631          0              0              0              52
  30  Pan             -2.667         0.812          3.74           0              137.145        0              70
  31  PepperShaker    -2.580         1.630          2.758          0              0              0              60
  32  ButterKnife     -2.172         0.812          3.552          0              0              0              70
  33  Tomato          -2.851         0.891          3.479          0              0              0              70
  34  DishSponge      0.702          0.691          2.605          0              0              0              44
  35  Lettuce         -0.580         0.956          1.358          31.822         0              0              88
  36  Spoon           0.771          0.692          1.016          0              0              0              58
  37  Apple           -1.694         1.420          3.934          0              180            0              76
  38  Knife           -2.497         0.846          3.575          0              180            0              70
  39  Mug             -1.109         0.940          1.203          0              0              0              88
  40  Bowl            0.781          0.124          2.493          0              0              0              54
  41  Drawer          0.729          0.703          2.199          0              0              0
  42  Cabinet         -1.962         1.926          3.733          0              0              0
  43  Cabinet         -2.377         2.014          1.058          0              0              0
  44  Drawer          0.729          0.703          2.532          0              0              0
  45  Cabinet         -2.622         1.925          3.733          0              0              0
  46  StoveBurner     0.913          0.843          1.375          0              0              0
  47  CounterTop      0.864          0.858          0.984          0              0              0
  48  Cabinet         -1.976         1.779          3.734          0              0              0
  49  Cabinet         0.580          0.385          0.819          0              0              0
  50  Cabinet         -2.379         1.408          1.677          0              0              0
  51  Cabinet         -0.419         1.703          3.736          0              0              0
  52  CounterTop      0.864          0.858          2.371          0              0              0
  53  Sink            -1.702         0.726          3.828          0              180            0
  54  Cabinet         0.580          0.385          2.694          0              0              0
  55  Cabinet         -2.379         0.637          1.677          0              0              0
  56  Cabinet         -0.419         0.674          3.736          0              0              0
  57  Cabinet         -2.377         2.014          2.558          0              0              0
  58  Drawer          0.729          0.703          0.980          0              0              0
  59  Drawer          -2.114         0.706          3.657          0              0              0
  60  Cabinet         -2.377         1.691          2.572          0              0              0
  61  Cabinet         -2.951         1.925          3.733          0              0              0
  62  Cabinet         0.580          0.385          2.360          0              0              0
  63  Cabinet         -2.426         0.435          3.421          0              0              0
  64  StoveBurner     0.642          0.843          1.375          0              0              0
  65  Cabinet         -2.377         1.927          1.686          0              0              0
  66  Cabinet         -2.377         2.013          3.177          0              0              0
  67  Cabinet         -1.136         0.385          3.516          0              0              0
  68  StoveBurner     0.913          0.843          1.768          0              0              0
  69  Cabinet         -1.974         0.385          3.516          0              0              0
  70  CounterTop      -2.081         0.858          3.799          0              0              0
  71  Cabinet         -2.426         0.435          3.174          0              0              0
  72  Cabinet         -2.377         2.014          1.693          0              0              0
  73  Cabinet         -1.986         0.385          3.511          0              0              0
  74  StoveBurner     0.642          0.843          1.768          0              0              0
  75  Cabinet         -1.098         1.926          3.729          0              0              0
  76  Microwave       -1.529         1.250          3.881          1.622          180            0
  77  CoffeeMachine   1.000          0.812          2.492          0              270            0
  78  LightSwitch     0.825          1.396          4.082          0              180            0
  79  Fridge          -2.642         0.0            2.134          0              180            0
  80  Window          -1.131         1.673          0.808          90             0              0
  81  GarbageCan      0.931          -0.000         2.918          0              0              0
  82  SinkBasin       -1.601         0.686          3.774          0              0              0
  83  StoveKnob       1.104          1.002          1.886          0              0              70.346
  84  StoveKnob       1.104          1.002          1.733          0              0              70.346
  85  StoveKnob       1.104          1.002          1.321          0              0              70.346
  86  StoveKnob       1.104          1.002          1.481          0              0              70.346
  87  Toaster         -2.247         0.812          3.862          0              180            0
  88  DiningTable     -0.917         -0.000         1.203          0              0              0
  89  Stool           -0.932         0.000          1.404          1.196          21.715         0
  90  Faucet          -1.842         0.809          3.984          0              180            0
  91  Faucet          -1.371         0.809          3.985          0              180            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn around, go forward, turn right and go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn around, go forward a bit, turn left and go to the counter | STEP 4: Slice the bread on the counter | STEP 5: Turn around, go forward, turn right at the beginning of the counter | STEP 6: Put the knife into the cupboard under the sink | STEP 7: Turn right, go to the counter | STEP 8: Pick up a slice of bread from the counter | STEP 9: Turn around and go to the fridge | STEP 10: Put the bread slice in the fridge, wait, pick up the bread slice from the fridge | STEP 11: Turn around, go forward a bit, turn right and go to the table | STEP 12: Put the bread slice on the table | END