Task: put a warm slice a bread on to the counter along with putting the knife in the cabinet

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           0.900          1.5            0              270            0
   1  Pan             1.845          0.948          -0.355         0              0              0              44
   2  Potato          1.738          0.942          -1.095         0              0              0              63
   3  Ladle           -0.346         0.957          -1.725         0              0              0              63
   4  DishSponge      1.828          0.913          -1.446         0              0              0              63
   5  ButterKnife     0.180          0.930          0.534          0              0              0              80
   6  Spatula         -0.064         0.779          -2.116         0              90             0              75
   7  Spatula         0.408          0.941          0.534          0              180            0              80
   8  Fork            -0.356         0.765          -1.981         0              270            0              75
   9  Fork            -0.047         0.931          1.220          0              0              0              80
  10  Egg             -0.137         0.818          -1.936         0              0              0              75
  11  Egg             1.743          0.140          0.044          0              0              0              64
  12  Knife           -0.283         0.787          -1.981         0              270            0              75
  13  Knife           0.119          0.936          -1.701         0              0              0              63
  14  SoapBottle      -1.277         1.658          -1.729         0              90             0              46
  15  Bowl            -1.533         1.501          -0.703         0              90             0              71
  16  Bowl            -1.553         1.180          -0.806         0              270            0              71
  17  SaltShaker      1.669          0.877          2.456          0              0              0              89
  18  SaltShaker      0.294          0.923          1.448          0              0              0              80
  19  Mug             -1.553         1.178          -1.013         0              90             0              71
  20  Apple           0.294          0.997          0.991          0              0              0              80
  21  Apple           -1.572         1.575          -1.013         0              90             0              71
  22  Potato          -1.380         1.212          -0.599         0              90             0              71
  23  Bowl            1.909          1.654          -1.544         0              270            0              53
  24  SoapBottle      0.180          0.925          1.220          0              0              0              80
  25  Fork            0.180          0.927          0.076          0              0              0              80
  26  Ladle           1.738          0.957          -1.446         0              0              0              63
  27  Bread           0.399          0.964          0.111          0              0              1.601          80
  28  Lettuce         -1.429         0.925          -0.542         0              315            0              71
  29  WineBottle      -1.072         0.914          -2.188         0              0              0              63
  30  Spatula         -0.627         0.9            -2.177         0              333.192        0              63
  31  Plate           1.557          0.916          -1.212         0              0              0              63
  32  SaltShaker      1.464          0.877          2.456          0              0              0              84
  33  Pot             -0.117         0.921          1.5            0              0              0              80
  34  Cup             -0.047         0.930          0.534          0              0              0              80
  35  PepperShaker    1.572          0.116          -1.332         0              270            0              55
  36  Pan             0.066          0.930          0.991          0              90             0              80
  37  ButterKnife     1.850          0.913          -1.751         0              0              0              63
  38  Tomato          2.009          0.965          -1.563         0              0              0              63
  39  DishSponge      1.950          1.657          -1.199         0              270            0              54
  40  Egg             1.153          0.967          -1.751         0              0              0              63
  41  Spoon           0.522          0.931          1.448          0              0              0              80
  42  Knife           0.294          0.953          0.762          0              0              0              80
  43  Mug             -1.284         1.010          -1.638         0              90             0              69
  44  StoveBurner     1.845          0.940          -0.355         0              0              0
  45  StoveBurner     1.567          0.940          -0.757         0              0              0
  46  Cabinet         -1.149         2.019          -1.979         0              90             0
  47  Cabinet         -1.149         2.265          -0.834         0              90             0
  48  Cabinet         -0.459         2.265          -2.0           0              0              0
  49  Cabinet         -1.100         2.019          -2.0           0              0              0
  50  Cabinet         1.719          2.019          -2.0           0              0              0
  51  Cabinet         1.179          2.019          -2.0           0              0              0
  52  Cabinet         0.199          2.019          -2.0           0              0              0
  53  Cabinet         1.75           2.019          -1.399         0              270            0
  54  Cabinet         1.75           2.019          -1.029         0              270            0
  55  Cabinet         1.379          0.469          -1.689         0              0              0
  56  Cabinet         -0.819         0.469          -1.689         0              0              0
  57  Cabinet         1.389          0.469          -1.059         0              270            0
  58  Cabinet         -0.839         0.469          -1.665         0              90             0
  59  StoveBurner     1.567          0.940          -0.355         0              0              0
  60  StoveBurner     1.845          0.940          -0.757         0              0              0
  61  Sink            -0.109         0.893          -2.009         0              0              0
  62  Drawer          -0.819         0.75           -1.690         0              0              0
  63  CounterTop      0.232          0.949          -2.002         0              0              0
  64  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  65  Vase            0.251          0.546          0.475          0              270            0
  66  Toaster         0.780          0.900          -2.080         0              0              0
  67  LightSwitch     0.108          1.315          2.75           0              180            0
  68  Vase            0.400          0.925          0.218          0              180            0
  69  Microwave       -1.233         0.900          -1.680         0              90             0
  70  Vase            1.465          1.662          -2.200         0              0              0
  71  Fridge          -1.495         0.0            -0.703         0              0              0
  72  Window          2.114          1.495          1.072          90             270            0
  73  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  74  Vase            0.333          0.546          1.272          0              270            0
  75  SinkBasin       -0.148         0.753          -2.026         0              0              0
  76  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  80  DiningTable     0.170          0.005          0.678          0              270            0
  81  Shelf           0.170          0.155          0.678          0              270            0
  82  Shelf           1.605          0.172          2.480          0              0              0
  83  Shelf           1.605          0.552          2.480          0              0              0
  84  Shelf           1.604          0.880          2.479          0              0              0
  85  ShelvingUnit    1.605          0.006          2.480          0              0              0
  86  Faucet          -0.143         1.028          -2.223         0              270            0
  87  Stool           -0.553         0.000          0.871          1.233          280.376        0
  88  Shelf           0.170          0.528          0.678          0              270            0
  89
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: turn to the left and move to the counter that is to the right of the stove, turn to face the counter | STEP 2: pick up the butter knife from the counter | STEP 3: turn to the left and move to the end of the kitchen island | STEP 4: slice the loaf of bread with the knife | STEP 5: turn around and move to the counter straight ahead | STEP 6: open the cabinet that is to the left of the dishwasher, put the knife in to the cabinet and close the door | STEP 7: turn around and move to the kitchen island facing the cut loaf of bread | STEP 8: pick up the end slice of bread from the island counter | STEP 9: turn around and move to the sink and then turn to the right to the microwave | STEP 10: open the microwave door, put the bread in, turn it on for three seconds, open the door and remove the bread | STEP 11: turn around and move to the counter that is to the left of the sink | STEP 12: put the slice of bread on to the counter in front of the toaster | END