Task: Slice a bread, cook a slice, put it in the fridge

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          2.75           0              0              0
   1  Potato          -2.851         0.866          3.405          0              0              0              66
   2  Pot             0.913          0.850          1.375          0              0              0              42
   3  Fork            1.024          0.823          0.939          0              90             0              43
   4  Fork            -0.657         0.901          1.143          0              180            0              84
   5  Egg             -1.317         0.936          1.143          0              90             0              84
   6  Cup             -0.789         0.900          1.555          0              90             0              84
   7  SoapBottle      0.875          0.822          2.458          0              0              0              48
   8  Bowl            -2.117         0.125          3.711          0              0              0              69
   9  SaltShaker      -1.307         1.679          3.819          0              0              0              71
  10  SaltShaker      0.800          0.819          2.458          0              0              0              48
  11  Lettuce         -2.636         1.071          2.221          0              90             0              75
  12  Lettuce         -2.577         0.843          2.333          0              90             0              75
  13  Mug             -1.317         0.895          1.246          0              180            0              84
  14  Apple           -2.636         1.252          2.165          0              90             0              75
  15  Plate           0.860          0.812          0.975          0              0              0              43
  16  Fork            -0.657         0.901          1.246          0              180            0              84
  17  Bread           -1.185         0.953          1.452          0              90             0              84
  18  Spatula         0.950          0.838          2.111          0              90             0              48
  19  PaperTowelRoll  -0.789         1.004          1.452          0              90             0              84
  20  Potato          0.650          0.866          1.028          0              0              0              43
  21  SoapBottle      -2.824         1.398          3.858          0              0              0              57
  22  Egg             0.960          0.060          2.918          0              0              0              77
  23  Cup             -1.204         1.683          3.975          0              0              0              71
  24  Pot             0.913          0.850          1.768          0              0              0              64
  25  SaltShaker      -1.317         0.896          0.937          0              90             0              84
  26  Pan             -2.667         0.812          3.74           0              137.145        0              66
  27  PepperShaker    -2.504         1.845          1.853          0              0              0              68
  28  ButterKnife     0.875          0.823          2.631          0              0              0              48
  29  Tomato          -2.461         1.064          2.333          0              90             0              75
  30  DishSponge      0.737          0.692          2.199          0              0              0              37
  31  Lettuce         -0.580         0.956          1.358          31.822         0              0              84
  32  Spoon           -1.317         0.901          1.040          0              0              0              84
  33  Apple           -0.524         0.961          1.555          0              90             0              84
  34  Knife           -0.657         0.923          1.040          0              180            0              84
  35  Mug             0.742          0.120          1.059          0              0              0              45
  36  Bowl            0.743          0.124          2.159          0              0              0              58
  37  Drawer          0.729          0.703          2.199          0              0              0
  38  Cabinet         -1.962         1.926          3.733          0              0              0
  39  Cabinet         -2.377         2.014          1.058          0              0              0
  40  Drawer          0.729          0.703          2.532          0              0              0
  41  Cabinet         -2.622         1.925          3.733          0              0              0
  42  StoveBurner     0.913          0.843          1.375          0              0              0
  43  CounterTop      0.864          0.858          0.984          0              0              0
  44  Cabinet         -1.976         1.779          3.734          0              0              0
  45  Cabinet         0.580          0.385          0.819          0              0              0
  46  Cabinet         -2.379         1.408          1.677          0              0              0
  47  Cabinet         -0.419         1.703          3.736          0              0              0
  48  CounterTop      0.864          0.858          2.371          0              0              0
  49  Sink            -1.702         0.726          3.828          0              180            0
  50  Cabinet         0.580          0.385          2.694          0              0              0
  51  Cabinet         -2.379         0.637          1.677          0              0              0
  52  Cabinet         -0.419         0.674          3.736          0              0              0
  53  Cabinet         -2.377         2.014          2.558          0              0              0
  54  Drawer          0.729          0.703          0.980          0              0              0
  55  Drawer          -2.114         0.706          3.657          0              0              0
  56  Cabinet         -2.377         1.691          2.572          0              0              0
  57  Cabinet         -2.951         1.925          3.733          0              0              0
  58  Cabinet         0.580          0.385          2.360          0              0              0
  59  Cabinet         -2.426         0.435          3.421          0              0              0
  60  StoveBurner     0.642          0.843          1.375          0              0              0
  61  Cabinet         -2.377         1.927          1.686          0              0              0
  62  Cabinet         -2.377         2.013          3.177          0              0              0
  63  Cabinet         -1.136         0.385          3.516          0              0              0
  64  StoveBurner     0.913          0.843          1.768          0              0              0
  65  Cabinet         -1.974         0.385          3.516          0              0              0
  66  CounterTop      -2.081         0.858          3.799          0              0              0
  67  Cabinet         -2.426         0.435          3.174          0              0              0
  68  Cabinet         -2.377         2.014          1.693          0              0              0
  69  Cabinet         -1.986         0.385          3.511          0              0              0
  70  StoveBurner     0.642          0.843          1.768          0              0              0
  71  Cabinet         -1.098         1.926          3.729          0              0              0
  72  Microwave       -1.529         1.250          3.881          1.622          180            0
  73  CoffeeMachine   1.000          0.812          2.492          0              270            0
  74  LightSwitch     0.825          1.396          4.082          0              180            0
  75  Fridge          -2.642         0.0            2.134          0              180            0
  76  Window          -1.131         1.673          0.808          90             0              0
  77  GarbageCan      0.931          -0.000         2.918          0              0              0
  78  SinkBasin       -1.601         0.686          3.774          0              0              0
  79  StoveKnob       1.104          1.002          1.886          0              0              70.346
  80  StoveKnob       1.104          1.002          1.733          0              0              70.346
  81  StoveKnob       1.104          1.002          1.321          0              0              70.346
  82  StoveKnob       1.104          1.002          1.481          0              0              70.346
  83  Toaster         -2.247         0.812          3.862          0              180            0
  84  DiningTable     -0.917         -0.000         1.203          0              0              0
  85  Stool           -0.932         0.000          1.404          1.196          21.715         0
  86  Faucet          -1.842         0.809          3.984          0              180            0
  87  Faucet          -1.371         0.809          3.985          0              180            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

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