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

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.930          0.75           0              0              0
   1  Potato          0.851          1.111          -1.531         0              0              0              107
   2  Ladle           1.303          1.711          -1.689         0              90             0              52
   3  Ladle           -0.789         0.937          -0.494         0              90             0              61
   4  DishSponge      0.304          1.259          -1.741         0              0              0              77
   5  Kettle          3.028          0.176          -0.404         0              0              0              72
   6  Spatula         3.152          0.762          0.098          0              0              0              106
   7  Spatula         -0.950         0.532          -0.273         0              90             0              88
   8  Spoon           3.111          0.748          0.032          0              0              0              106
   9  Fork            0.550          0.911          0.259          0              36.810         0              92
  10  Mug             -0.775         0.895          -0.854         0              45             0              61
  11  Apple           -0.090         0.974          -1.440         0              45             0              82
  12  Lettuce         -0.862         0.965          -0.047         0              0              0              61
  13  Lettuce         1.098          0.976          0.889          0              0              0              92
  14  SaltShaker      -1.080         0.896          0.623          0              0              0              61
  15  SaltShaker      -0.786         0.702          0.401          0              0              0              65
  16  PepperShaker    0.017          0.896          -1.239         0              45             0              82
  17  PepperShaker    3.113          1.460          -1.648         0              0              0              59
  18  Bowl            0.808          1.671          -1.550         0              0              0              76
  19  SoapBottle      2.976          1.473          -1.697         0              0              0              59
  20  SoapBottle      3.279          1.273          -0.790         0              0              0              74
  21  Egg             3.355          0.953          -0.698         0              0              0              60
  22  Plate           0.781          0.923          0.452          0              36.810         0              92
  23  Glassbottle     3.084          0.176          -0.786         0              0              0              73
  24  SoapBottle      0.059          0.909          -1.383         0              45             0              82
  25  Potato          3.152          0.785          -0.100         0              90             0              106
  26  Fork            -0.935         0.900          0.846          0              0              0              61
  27  Ladle           3.111          0.749          0.829          0              270            0              83
  28  Pot             -0.420         0.902          -0.920         0              135            0              56
  29  Kettle          -0.419         0.902          -1.269         0              315            0              63
  30  Spatula         -0.991         0.146          -0.186         0              90             0              81
  31  Knife           3.354          0.926          0.232          0              90             0              60
  32  Lettuce         1.360          0.973          0.747          0              0              0              92
  33  Cup             -0.597         0.898          -0.730         0              45             0              61
  34  SaltShaker      -0.827         0.702          0.926          0              0              0              65
  35  Egg             0.022          0.952          -1.803         0              0              0              82
  36  PepperShaker    -0.232         1.259          -1.552         0              45             0              78
  37  ButterKnife     1.229          0.911          0.747          0              0              0              92
  38  Apple           -1.018         1.071          1.470          0              90             0              109
  39  Pan             0.341          0.873          -1.649         0              167.065        0              82
  40  Bread           1.534          0.972          0.486          0              289.287        0              92
  41  CellPhone       -0.950         0.704          0.926          0              0              0              65
  42  DishSponge      -0.964         0.899          -0.667         0              45             0              61
  43  Tomato          3.122          0.937          -0.897         0              0              0              60
  44  Spoon           3.111          0.748          0.165          0              0              0              106
  45  Bowl            1.098          0.905          0.605          0              0              0              92
  46  Mug             -1.119         0.992          1.258          0              180            0              109
  47  Drawer          0.376          0.572          -1.509         0              0              0
  48  Drawer          3.020          0.769          -0.783         0              180            0
  49  Drawer          -0.860         0.577          1.429          0              0              0
  50  StoveBurner     -0.600         0.897          -1.090         0              135            0
  51  Drawer          0.376          0.191          -1.509         0              0              0
  52  Cabinet         1.402          1.874          -1.259         0              0              0
  53  Cabinet         -0.202         1.963          -1.328         0              0              0
  54  Drawer          -0.860         0.765          1.429          0              0              0
  55  Drawer          -0.677         0.765          -0.700         0              0              0
  56  StoveBurner     -0.420         0.897          -0.920         0              135            0
  57  Drawer          3.020          0.769          -0.407         0              180            0
  58  Drawer          -0.860         0.577          0.663          0              0              0
  59  Cabinet         2.819          1.768          -1.850         0              0              0
  60  CounterTop      3.111          0.936          0.019          0              0              0
  61  CounterTop      -1.007         0.935          -0.039         0              0              0
  62  Drawer          -0.860         0.385          0.663          0              0              0
  63  StoveBurner     -0.419         0.897          -1.269         0              315            0
  64  Drawer          -0.047         0.573          -1.324         0              0              0
  65  Drawer          -0.860         0.765          0.663          0              0              0
  66  Drawer          -0.860         0.385          -0.100         0              0              0
  67  Drawer          0.376          0.380          -1.509         0              0              0
  68  Drawer          -0.860         0.765          -0.100         0              0              0
  69  Drawer          0.376          0.765          -1.509         0              0              0
  70  Cabinet         2.849          0.419          0.409          0              0              0
  71  Drawer          -0.047         0.765          -1.324         0              0              0
  72  Cabinet         2.849          0.419          -0.610         0              0              0
  73  Cabinet         2.849          0.419          -0.959         0              0              0
  74  Cabinet         3.069          1.666          -0.709         0              0              0
  75  Cabinet         2.819          1.768          -1.047         0              0              0
  76  Cabinet         0.620          1.874          -1.259         0              0              0
  77  Cabinet         0.140          1.666          -1.559         0              0              0
  78  Cabinet         -0.189         1.666          -1.340         0              0              0
  79  Cabinet         -0.709         1.963          -0.819         0              0              0
  80  Cabinet         -0.920         1.665          -0.620         0              0              0
  81  Drawer          -0.860         0.190          -0.100         0              0              0
  82  CounterTop      0.133          0.935          -1.457         0              0              0
  83  Drawer          3.020          0.769          0.695          0              180            0
  84  Drawer          -0.677         0.577          -0.700         0              0              0
  85  Drawer          -0.860         0.190          1.429          0              0              0
  86  Drawer          -0.047         0.192          -1.324         0              0              0
  87  Drawer          -0.677         0.193          -0.700         0              0              0
  88  Drawer          -0.860         0.577          -0.100         0              0              0
  89  Sink            3.078          0.887          0.086          0              0              0
  90  StoveBurner     -0.239         0.897          -1.089         0              315            0
  91  Drawer          -0.860         0.190          0.663          0              0              0
  92  CounterTop      1.210          0.937          0.463          0              0              0
  93  Drawer          -0.047         0.381          -1.324         0              0              0
  94  Drawer          -0.677         0.387          -0.700         0              0              0
  95  Mirror          -1.295         1.630          0.045          0              0              0
  96  Drawer          -0.860         0.385          1.429          0              0              0
  97  HousePlant      3.196          0.891          -0.368         0              0              0
  98  StoveKnob       -0.090         0.790          -1.009         270            45             0
  99  StoveKnob       -0.280         0.790          -0.819         270            45             0
 100  StoveKnob       -0.180         0.790          -0.920         270            45             0
 101  StoveKnob       -0.370         0.790          -0.720         270            45             0
 102  GarbageCan      3.137          0.025          1.545          0              225            0
 103  Window          3.703          1.675          0.046          90             90             0
 104  CoffeeMachine   3.214          0.890          0.697          0              270            0
 105  LightSwitch     2.592          1.309          -1.880         0              0              0
 106  SinkBasin       3.069          0.736          0.108          0              90             0
 107  Fridge          1.008          0.029          -1.467         0              0              0
 108  Toaster         -1.035         0.873          -0.396         0              90             0
 109  Microwave       -1.034         0.874          1.428          0              90             0
 110  Faucet          3.305          0.886          0.094          270            180            0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Turn left, go to the table | STEP 2: Take the knife on the table | STEP 3: Turn left, go forward a bit, turn right to face the table | STEP 4: Slice the bread on the table | STEP 5: Turn around to face the counter | STEP 6: Open the top drawer, put the knife in the drawer, close the drawer | STEP 7: Turn around to face the table | STEP 8: Pick up a slice of bread | STEP 9: Turn left, go forward a bit, turn right, go forward, turn right go forward, turn left to face the microwave | STEP 10: Open the microwave, put the bread in it, close the microwave, start the microwave, open the microwave, get the bread, close the microwave | STEP 11: Turn left, go forward, turn left, go forward, turn left, go forward, turn right to face the trash | STEP 12: Put the bread in the trash | END