Task: Slice a bread, cook a slice, throw it in the bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.930          -0.5           0              270            0
   1  Potato          -0.239         0.938          -1.496         0              45             0              87
   2  Potato          1.242          0.924          -1.448         0              0              0              112
   3  DishSponge      0.772          0.907          0.093          0              36.810         0              97
   4  DishSponge      0.156          0.899          -1.379         0              45             0              87
   5  Glassbottle     -0.717         0.901          -0.047         0              0              0              66
   6  Glassbottle     3.181          1.465          -1.746         0              0              0              64
   7  Kettle          3.084          0.178          0.770          0              0              0              75
   8  Spatula         3.07           0.768          0.098          0              90             0              111
   9  Spatula         -0.786         0.533          -0.273         0              0              0              93
  10  Fork            -0.868         0.518          -0.011         0              0              0              93
  11  Fork            -0.991         0.131          1.605          0              90             0              90
  12  Mug             1.242          0.706          -1.354         0              270            0              112
  13  Apple           -1.043         0.974          -0.691         0              45             0              66
  14  Apple           -1.018         1.071          1.364          0              90             0              114
  15  Lettuce         0.778          0.976          0.332          0              36.810         0              97
  16  Lettuce         -0.729         0.965          -0.699         0              45             0              66
  17  SaltShaker      3.173          1.460          -1.284         0              0              0              80
  18  PepperShaker    3.113          1.460          -1.599         0              0              0              64
  19  Bowl            -0.935         0.897          0.176          0              0              0              66
  20  Bowl            -1.008         0.897          -0.047         0              0              0              66
  21  SoapBottle      2.914          0.184          -0.453         0              0              0              77
  22  SoapBottle      3.122          0.909          -0.798         0              0              0              65
  23  Tomato          2.987          0.784          0.032          0              90             0              111
  24  Tomato          0.445          0.947          0.326          0              0              0              97
  25  Cup             1.164          1.071          -1.475         0              0              0              112
  26  Cup             3.146          1.262          -0.854         0              0              0              79
  27  Plate           -0.953         0.886          0.699          0              0              0              66
  28  Glassbottle     3.198          0.176          -0.307         0              0              0              77
  29  SoapBottle      3.198          0.184          -0.550         0              0              0              77
  30  Potato          1.008          1.286          -1.448         0              0              0              112
  31  Fork            0.953          0.911          0.567          0              36.810         0              97
  32  Ladle           3.200          0.937          -0.798         0              180            0              65
  33  Pot             -0.420         0.902          -0.920         0              135            0              61
  34  Kettle          0.007          0.901          -1.435         0              45             0              87
  35  Spatula         -0.786         0.341          0.576          0              0              0              67
  36  Knife           -0.991         0.352          -0.273         0              90             0              71
  37  Lettuce         0.661          0.976          0.176          0              36.810         0              97
  38  Cup             -0.789         0.898          0.399          0              0              0              66
  39  SaltShaker      -0.932         0.896          -0.801         0              45             0              66
  40  Egg             3.152          0.799          0.098          0              90             0              111
  41  PepperShaker    -0.786         0.127          -0.011         0              0              0              86
  42  ButterKnife     0.533          0.911          0.326          0              0              0              97
  43  Apple           3.044          0.974          -0.499         0              0              0              65
  44  Pan             0.341          0.873          -1.649         0              167.065        0              87
  45  Bread           1.534          0.972          0.486          0              289.287        0              97
  46  CellPhone       -0.857         0.897          -0.671         0              45             0              66
  47  DishSponge      -0.706         0.328          -0.682         0              45             0              99
  48  Tomato          0.967          0.947          0.747          0              0              0              97
  49  Spoon           1.360          0.909          0.180          0              0              0              97
  50  Bowl            0.783          0.905          0.572          0              36.810         0              97
  51  Mug             3.049          0.966          0.591          0              270            0              109
  52  Drawer          0.376          0.572          -1.509         0              0              0
  53  Drawer          3.020          0.769          -0.783         0              180            0
  54  Drawer          -0.860         0.577          1.429          0              0              0
  55  StoveBurner     -0.600         0.897          -1.090         0              135            0
  56  Drawer          0.376          0.191          -1.509         0              0              0
  57  Cabinet         1.402          1.874          -1.259         0              0              0
  58  Cabinet         -0.202         1.963          -1.328         0              0              0
  59  Drawer          -0.860         0.765          1.429          0              0              0
  60  Drawer          -0.677         0.765          -0.700         0              0              0
  61  StoveBurner     -0.420         0.897          -0.920         0              135            0
  62  Drawer          3.020          0.769          -0.407         0              180            0
  63  Drawer          -0.860         0.577          0.663          0              0              0
  64  Cabinet         2.819          1.768          -1.850         0              0              0
  65  CounterTop      3.111          0.936          0.019          0              0              0
  66  CounterTop      -1.007         0.935          -0.039         0              0              0
  67  Drawer          -0.860         0.385          0.663          0              0              0
  68  StoveBurner     -0.419         0.897          -1.269         0              315            0
  69  Drawer          -0.047         0.573          -1.324         0              0              0
  70  Drawer          -0.860         0.765          0.663          0              0              0
  71  Drawer          -0.860         0.385          -0.100         0              0              0
  72  Drawer          0.376          0.380          -1.509         0              0              0
  73  Drawer          -0.860         0.765          -0.100         0              0              0
  74  Drawer          0.376          0.765          -1.509         0              0              0
  75  Cabinet         2.849          0.419          0.409          0              0              0
  76  Drawer          -0.047         0.765          -1.324         0              0              0
  77  Cabinet         2.849          0.419          -0.610         0              0              0
  78  Cabinet         2.849          0.419          -0.959         0              0              0
  79  Cabinet         3.069          1.666          -0.709         0              0              0
  80  Cabinet         2.819          1.768          -1.047         0              0              0
  81  Cabinet         0.620          1.874          -1.259         0              0              0
  82  Cabinet         0.140          1.666          -1.559         0              0              0
  83  Cabinet         -0.189         1.666          -1.340         0              0              0
  84  Cabinet         -0.709         1.963          -0.819         0              0              0
  85  Cabinet         -0.920         1.665          -0.620         0              0              0
  86  Drawer          -0.860         0.190          -0.100         0              0              0
  87  CounterTop      0.133          0.935          -1.457         0              0              0
  88  Drawer          3.020          0.769          0.695          0              180            0
  89  Drawer          -0.677         0.577          -0.700         0              0              0
  90  Drawer          -0.860         0.190          1.429          0              0              0
  91  Drawer          -0.047         0.192          -1.324         0              0              0
  92  Drawer          -0.677         0.193          -0.700         0              0              0
  93  Drawer          -0.860         0.577          -0.100         0              0              0
  94  Sink            3.078          0.887          0.086          0              0              0
  95  StoveBurner     -0.239         0.897          -1.089         0              315            0
  96  Drawer          -0.860         0.190          0.663          0              0              0
  97  CounterTop      1.210          0.937          0.463          0              0              0
  98  Drawer          -0.047         0.381          -1.324         0              0              0
  99  Drawer          -0.677         0.387          -0.700         0              0              0
 100  Mirror          -1.295         1.630          0.045          0              0              0
 101  Drawer          -0.860         0.385          1.429          0              0              0
 102  HousePlant      3.196          0.891          -0.368         0              0              0
 103  StoveKnob       -0.090         0.790          -1.009         270            45             0
 104  StoveKnob       -0.280         0.790          -0.819         270            45             0
 105  StoveKnob       -0.180         0.790          -0.920         270            45             0
 106  StoveKnob       -0.370         0.790          -0.720         270            45             0
 107  GarbageCan      3.137          0.025          1.545          0              225            0
 108  Window          3.703          1.675          0.046          90             90             0
 109  CoffeeMachine   3.214          0.890          0.697          0              270            0
 110  LightSwitch     2.592          1.309          -1.880         0              0              0
 111  SinkBasin       3.069          0.736          0.108          0              90             0
 112  Fridge          1.008          0.029          -1.467         0              0              0
 113  Toaster         -1.035         0.873          -0.396         0              90             0
 114  Microwave       -1.034         0.874          1.428          0              90             0
 115  Faucet          3.305          0.886          0.094          270            180            0
 116  NorthWall
 117  EastWall
 118  SouthWall
 119  WestWall

Plan:
STEP 1: Go forward, turn right to the table  | STEP 2: Pick up the knife on the table | STEP 3: Turn around the table to the right side of the table  | STEP 4: Slice the bread on the table  | STEP 5: Turn around to the counter | STEP 6: Put the knife in the cupboard to the left of the sink | STEP 7: Turn around to the table  | STEP 8: Pick up a bread slice from the table  | STEP 9: Turn left, go forward, turn right, 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 left, go forward, turn left,go forward, turn right and go to the bin | STEP 12: Put the bread slice in the bin | END