Task: put a slice of bread on top of the counter

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          2.0            0              0              0
   1  CreditCard      -0.242         1.108          1.712          0              315            0              64
   2  DishSponge      -0.133         0.910          -1.199         0              0              0              71
   3  ButterKnife     -1.933         0.911          -1.115         0              0              0              71
   4  Kettle          -2.823         0.928          -0.711         0              0              0              68
   5  Pot             -2.823         0.928          -0.396         0              0              0              70
   6  Pot             0.920          0.912          -1.282         0              0              0              71
   7  Spoon           0.240          1.100          1.172          0              315            0              64
   8  Spoon           -1.332         0.850          -1.25          0              90             0              81
   9  Spatula         0.375          1.126          1.652          0              225            0              64
  10  Knife           0.276          1.134          1.746          0              315            0              64
  11  SoapBottle      0.067          1.112          1.345          0              315            0              64
  12  SoapBottle      0.740          1.112          0.979          0              315            0              64
  13  Bowl            -2.810         1.663          0.100          0              0              0              57
  14  Bowl            -2.800         0.818          0.932          0              90             0              83
  15  Lettuce         -2.860         1.752          0.690          0              90             0              83
  16  Lettuce         -2.800         0.457          0.690          0              90             0              83
  17  Mug             -2.774         2.038          1.370          0              0              0              61
  18  Apple           -1.073         0.903          -1.084         0              0              0              81
  19  Pan             -2.800         1.472          0.852          0              180            0              83
  20  Apple           -2.936         0.963          0.021          0              0              0              63
  21  Fork            -0.276         0.901          -1.118         0              0              0              71
  22  Kettle          0.798          1.112          1.383          0              315            0              64
  23  CreditCard      -2.499         0.743          -0.090         0              0              0              71
  24  Bread           -0.401         0.948          -1.291         0              0              0              71
  25  Plate           -1.458         0.843          -1.235         0              0              0              81
  26  SoapBottle      -2.786         0.037          1.466          0              0              0              82
  27  Spatula         -2.628         0.761          -0.027         0              90             0              69
  28  Lettuce         -2.740         1.752          1.013          0              90             0              83
  29  SaltShaker      -2.695         0.9            -0.132         0              0              0              63
  30  Tomato          0.205          1.152          1.054          0              0              0              64
  31  PepperShaker    -2.830         0.9            -0.112         0              0              0              63
  32  ButterKnife     -0.662         0.911          -1.115         0              90             0              71
  33  Pot             0.990          1.112          0.883          0              315            0              64
  34  Potato          -0.598         0.933          -1.119         0              47.530         0              71
  35  DishSponge      -0.941         1.662          -1.284         0              0              0              60
  36  Egg             0.136          1.136          1.274          0              0              0              64
  37  Spoon           -2.521         0.912          0.106          0              0              0              63
  38  Knife           -2.521         0.934          0.275          0              0              0              63
  39  Cup             -1.119         0.841          -1.241         0              0              0              81
  40  Mug             -2.920         0.373          0.932          0              90             0              83
  41  Bowl            0.912          1.661          -1.360         0              0              0              49
  42  Cabinet         -2.647         2.075          -0.875         0              0              0
  43  Cabinet         -2.647         2.075          -0.234         0              0              0
  44  Cabinet         -0.824         0.469          -0.907         0              0              0
  45  Cabinet         -1.764         2.009          -1.197         0              0              0
  46  Cabinet         -1.834         2.009          -1.197         0              0              0
  47  Cabinet         -1.850         0.389          -0.897         0              0              0
  48  Cabinet         -1.801         0.469          -0.907         0              0              0
  49  Cabinet         1.115          2.009          -1.197         0              0              0
  50  Cabinet         0.235          2.009          -1.197         0              0              0
  51  Cabinet         1.125          0.470          -0.897         0              0              0
  52  Cabinet         -2.387         0.389          0.375          0              0              0
  53  Cabinet         0.484          0.389          -0.897         0              0              0
  54  Cabinet         -2.625         2.009          -1.197         0              0              0
  55  Cabinet         -2.647         2.009          -0.945         0              0              0
  56  Cabinet         -2.647         2.200          1.664          0              0              0
  57  Cabinet         -2.647         2.009          0.364          0              0              0
  58  Cabinet         0.164          2.009          -1.197         0              0              0
  59  Cabinet         -0.765         2.009          -1.197         0              0              0
  60  Cabinet         -0.834         2.009          -1.197         0              0              0
  61  Cabinet         -2.647         2.200          0.434          0              0              0
  62  StoveBurner     -2.622         0.886          -0.711         0              0              0
  63  CounterTop      -2.699         0.946          0.106          0              0              0
  64  CounterTop      0.908          1.147          0.788          0              315            0
  65  StoveBurner     -2.622         0.886          -0.396         0              0              0
  66  Drawer          -2.026         0.779          -1.082         0              0              0
  67  Sink            -1.328         0.916          -1.225         0              0              0
  68  StoveBurner     -2.822         0.886          -0.711         0              0              0
  69  Drawer          -2.572         0.779          0.099          0              0              0
  70  StoveBurner     -2.822         0.886          -0.396         0              0              0
  71  CounterTop      0.071          0.946          -1.199         0              0              0
  72  Drawer          0.254          0.779          -1.082         0              0              0
  73  LightSwitch     -1.167         1.307          3.0            0              180            0
  74  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  75  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  76  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  78  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  79  Window          0.321          1.449          3.088          90             0              0
  80  Toaster         -2.823         0.899          0.246          0              90             0
  81  SinkBasin       -1.344         0.838          -1.25          0              0              0
  82  GarbageCan      -2.757         1.886          1.466          0              0              0
  83  Fridge          -2.855         0.0            0.851          0              0              0
  84  Microwave       0.283          0.900          -1.331         0              0              0
  85  Stool           1.541          0.010          1.328          0              45             0
  86  Stool           0.983          0.010          1.793          0              47.459         0
  87  Faucet          -1.392         1.136          -1.399         0              270            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: go left turn to the left towards the counter  | STEP 2: pick up the knife that is on top of the counter | STEP 3: turn to the left towards the other side of the counter | STEP 4: slice a loaf of bread | STEP 5: turn around to the right go forward turn to the left towards the refrigerator | STEP 6: put the knife inside the refrigerator  | STEP 7: turn to the left go right towards the counter | STEP 8: pick up a slice of bread from the counter | STEP 9: turn around to the left go left towards the refrigerator  | STEP 10: put the slice of bread in the refrigerator get it back out  | STEP 11: turn to the left go right towards the counter | STEP 12: put the slice of bread on top of the counter | END