Task: Slice a bread, put a slice into the basket

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          0.901          -2.5           0              270            0
   1  Potato          -1.914         0.834          -3.747         0              0              0              84
   2  Potato          -2.753         0.760          -0.206         0              225            0              86
   3  DishSponge      -2.987         0.913          -3.952         0              0              0              42
   4  ButterKnife     -0.257         0.916          -1.555         0              0              0              69
   5  ButterKnife     -0.412         0.913          -3.112         0              0              0              42
   6  Spatula         -2.721         0.731          -0.439         0              315            0              86
   7  Fork            -3.054         0.714          -0.483         0              225            0              86
   8  Egg             -0.500         0.951          -1.555         0              0              0              69
   9  Egg             -1.638         0.827          -3.875         0              0              0              84
  10  Cup             -2.576         0.717          -0.383         0              225            0              86
  11  Cup             -2.300         1.295          -4.005         0              0              0              55
  12  Plate           -3.226         1.866          -2.392         0              0              0              51
  13  Knife           -1.058         0.946          -3.729         0              0              0              42
  14  Knife           -2.765         0.746          -0.596         0              135            0              86
  15  Bowl            -3.079         0.638          -1.941         0              90             0              83
  16  SaltShaker      -2.664         0.713          -0.294         0              225            0              86
  17  PepperShaker    -0.471         0.743          -1.563         0              0              0              65
  18  PepperShaker    -0.095         0.912          -1.370         0              0              0              69
  19  Mug             -2.930         0.763          -0.358         0              135            0              82
  20  Mug             -3.155         0.708          -0.608         0              225            0              86
  21  Pot             -0.165         0.975          -2.030         0              180            0              73
  22  Egg             -0.096         1.048          -0.851         0              270            0              79
  23  Cup             -0.373         0.082          -3.411         0              0              0              43
  24  Bread           -0.412         0.954          -3.012         0              0              0              42
  25  Fork            -2.987         0.914          -3.655         0              0              0              42
  26  Pan             -0.394         0.973          -2.414         0              0              0              67
  27  Potato          -1.707         0.834          -3.661         0              0              0              84
  28  Lettuce         -3.079         1.101          -1.941         0              90             0              83
  29  Tomato          -0.650         0.963          -3.804         0              0              0              42
  30  Apple           -2.532         0.756          -0.564         0              135            0              86
  31  SoapBottle      -0.257         0.915          -1.432         0              0              0              69
  32  Spatula         -3.167         0.928          -3.581         0              0              0              42
  33  SaltShaker      -0.095         0.912          -0.507         0              0              0              69
  34  Knife           -0.412         0.778          -1.408         0              90             0              65
  35  PepperShaker    -0.471         0.743          -3.024         0              0              0              72
  36  ButterKnife     -2.564         0.713          -0.797         0              135            0              86
  37  Plate           -3.022         0.715          -0.741         0              225            0              86
  38  DishSponge      -2.620         0.716          -0.652         0              135            0              86
  39  Spoon           -0.338         0.917          -0.490         0              0              0              69
  40  Mug             -0.813         0.077          -3.675         0              0              0              44
  41  Bowl            -3.346         0.911          -3.952         0              0              0              42
  42  CounterTop      -1.789         0.949          -3.803         0              0              0
  43  Cabinet         -0.577         0.388          -3.476         0              0              0
  44  Cabinet         -0.605         0.388          -3.511         0              0              0
  45  Cabinet         -2.976         0.388          -3.201         0              0              0
  46  Cabinet         -0.577         0.388          -0.447         0              0              0
  47  Cabinet         -0.577         0.388          -1.725         0              0              0
  48  Cabinet         -0.226         1.803          -1.743         0              0              0
  49  Cabinet         -0.228         1.799          -0.447         0              0              0
  50  Cabinet         -6.010         1.139          -6.019         0              0              0
  51  Cabinet         -3.022         2.098          -2.681         0              0              0
  52  Cabinet         -3.022         2.098          -1.743         0              0              0
  53  Cabinet         -0.577         0.388          -2.736         0              0              0
  54  Cabinet         -3.232         1.803          -3.343         0              0              0
  55  Cabinet         -2.811         1.810          -3.764         0              0              0
  56  Cabinet         -1.233         1.810          -3.764         0              0              0
  57  Cabinet         -1.364         0.388          -3.511         0              0              0
  58  Cabinet         -1.380         0.388          -3.511         0              0              0
  59  Cabinet         -0.226         1.803          -2.725         0              0              0
  60  Cabinet         -0.236         2.098          -1.767         0              0              0
  61  Cabinet         -0.236         2.098          -2.705         0              0              0
  62  Cabinet         -0.193         1.210          -4.239         0              0              0
  63  Cabinet         -2.148         0.388          -3.511         0              0              0
  64  Drawer          -3.104         0.797          -2.968         0              0              0
  65  Drawer          -0.449         0.797          -1.410         0              0              0
  66  Sink            -1.786         0.902          -3.748         0              0              0
  67  StoveBurner     -0.376         0.936          -2.451         0              0              0
  68  Drawer          -0.449         0.797          -0.762         0              0              0
  69  CounterTop      -0.268         0.951          -1.089         0              0              0
  70  Drawer          -0.449         0.797          -3.348         0              0              0
  71  StoveBurner     -0.376         0.936          -2.031         0              180            0
  72  Drawer          -0.449         0.797          -2.968         0              0              0
  73  StoveBurner     -0.165         0.936          -2.030         0              180            0
  74  StoveBurner     -0.165         0.936          -2.450         0              0              0
  75  StoveKnob       -0.568         0.903          -2.313         45             270            0
  76  StoveKnob       -0.568         0.903          -2.470         45             270            0
  77  StoveKnob       -0.568         0.903          -2.166         45             270            0
  78  StoveKnob       -0.568         0.903          -2.003         45             270            0
  79  Microwave       -0.143         0.903          -0.908         0              270            0
  80  LightSwitch     -1.108         1.457          0.338          0              180            0
  81  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  82  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  83  Fridge          -3.188         0.0            -2.184         0              0              0
  84  SinkBasin       -1.786         0.779          -3.747         0              0              0
  85  Toaster         -0.230         0.903          -3.406         0              270            0
  86  DiningTable     -2.800         0.003          -0.505         0              0              0
  87  Chair           -3.044         0.003          -1.223         0              32.194         0
  88  Faucet          -1.791         1.136          -3.913         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

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