Task: Slice a bread, cook 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           0.75           0.900          -0.5           0              0              0
   1  Ladle           0.294          0.971          1.448          0              0              0              74
   2  DishSponge      1.909          1.657          -1.544         0              270            0              47
   3  ButterKnife     0.294          0.926          0.534          0              0              0              74
   4  ButterKnife     0.408          0.930          0.305          0              0              0              74
   5  WineBottle      -0.616         0.914          -2.134         0              0              0              57
   6  WineBottle      0.180          0.931          0.534          0              0              0              74
   7  Spatula         -0.283         0.779          -2.026         0              180            0              69
   8  Fork            0.180          0.931          0.305          0              0              0              74
   9  Fork            2.009          0.914          -1.329         0              90             0              57
  10  Tomato          -1.380         1.235          -0.702         0              90             0              65
  11  Tomato          1.872          0.138          0.160          0              0              0              58
  12  SoapBottle      0.180          0.929          1.448          0              0              0              74
  13  SoapBottle      0.180          0.925          0.762          0              0              0              74
  14  Bowl            1.850          0.910          -1.918         0              0              0              57
  15  Apple           0.522          1.001          1.220          0              0              0              74
  16  Potato          -0.963         0.942          -2.188         0              0              0              57
  17  Bowl            0.408          0.927          0.534          0              0              0              74
  18  SoapBottle      1.566          0.879          2.537          0              0              0              78
  19  Fork            0.180          0.927          0.991          0              0              0              74
  20  Ladle           0.119          0.957          -1.725         0              0              0              57
  21  Bread           -0.047         0.972          0.762          0              0              0              74
  22  Lettuce         -0.160         1.011          0.076          0              0              0              74
  23  WineBottle      1.919          0.914          -1.329         0              0              0              57
  24  Spatula         -0.047         0.945          1.220          0              0              0              74
  25  Plate           1.670          0.556          2.431          0              0              0              83
  26  SaltShaker      0.294          0.923          1.220          0              0              0              74
  27  Pot             -0.117         0.921          1.5            0              0              0              74
  28  Cup             1.362          0.881          2.483          0              0              0              78
  29  PepperShaker    1.877          0.549          2.379          0              0              0              77
  30  Pan             1.567          0.948          -0.757         0              0              0              39
  31  ButterKnife     0.408          0.926          0.762          0              0              0              74
  32  Tomato          -1.380         1.235          -0.392         0              90             0              65
  33  DishSponge      0.180          0.930          1.220          0              0              0              74
  34  Egg             -1.438         0.913          -0.392         0              90             0              65
  35  Spoon           1.647          0.914          -1.212         0              0              0              57
  36  Knife           0.408          0.953          0.991          0              0              0              74
  37  Mug             1.261          0.951          -1.934         0              0              0              67
  38  StoveBurner     1.845          0.940          -0.355         0              0              0
  39  StoveBurner     1.567          0.940          -0.757         0              0              0
  40  Cabinet         -1.149         2.019          -1.979         0              90             0
  41  Cabinet         -1.149         2.265          -0.834         0              90             0
  42  Cabinet         -0.459         2.265          -2.0           0              0              0
  43  Cabinet         -1.100         2.019          -2.0           0              0              0
  44  Cabinet         1.719          2.019          -2.0           0              0              0
  45  Cabinet         1.179          2.019          -2.0           0              0              0
  46  Cabinet         0.199          2.019          -2.0           0              0              0
  47  Cabinet         1.75           2.019          -1.399         0              270            0
  48  Cabinet         1.75           2.019          -1.029         0              270            0
  49  Cabinet         1.379          0.469          -1.689         0              0              0
  50  Cabinet         -0.819         0.469          -1.689         0              0              0
  51  Cabinet         1.389          0.469          -1.059         0              270            0
  52  Cabinet         -0.839         0.469          -1.665         0              90             0
  53  StoveBurner     1.567          0.940          -0.355         0              0              0
  54  StoveBurner     1.845          0.940          -0.757         0              0              0
  55  Sink            -0.109         0.893          -2.009         0              0              0
  56  Drawer          -0.819         0.75           -1.690         0              0              0
  57  CounterTop      0.232          0.949          -2.002         0              0              0
  58  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  59  Vase            0.251          0.546          0.475          0              270            0
  60  Toaster         0.780          0.900          -2.080         0              0              0
  61  LightSwitch     0.108          1.315          2.75           0              180            0
  62  Vase            0.400          0.925          0.218          0              180            0
  63  Microwave       -1.233         0.900          -1.680         0              90             0
  64  Vase            1.465          1.662          -2.200         0              0              0
  65  Fridge          -1.495         0.0            -0.703         0              0              0
  66  Window          2.114          1.495          1.072          90             270            0
  67  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  68  Vase            0.333          0.546          1.272          0              270            0
  69  SinkBasin       -0.148         0.753          -2.026         0              0              0
  70  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  71  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  72  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  73  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  74  DiningTable     0.170          0.005          0.678          0              270            0
  75  Shelf           0.170          0.155          0.678          0              270            0
  76  Shelf           1.605          0.172          2.480          0              0              0
  77  Shelf           1.605          0.552          2.480          0              0              0
  78  Shelf           1.604          0.880          2.479          0              0              0
  79  ShelvingUnit    1.605          0.006          2.480          0              0              0
  80  Faucet          -0.143         1.028          -2.223         0              270            0
  81  Stool           -0.553         0.000          0.871          1.233          280.376        0
  82  Shelf           0.170          0.528          0.678          0              270            0
  83
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

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