Task: Cutting and preparing some bread and putting it on a table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.901          3.25           0              0              0
   1  Pan             -0.314         0.900          2.731          0              0              0              74
   2  Potato          -2.805         1.212          4.427          0              90             0              68
   3  DishSponge      -2.864         0.935          3.302          0              0              0              58
   4  Spoon           -1.824         0.663          0.355          0              0              0              54
   5  Fork            -2.549         0.936          3.395          0              90             0              58
   6  Fork            -1.007         0.796          0.281          0              90             0              69
   7  Pot             -0.314         0.900          3.133          0              0              0              74
   8  Plate           -2.892         0.904          2.309          0              0              0              72
   9  Knife           -0.486         0.926          3.334          0              0              0              74
  10  Knife           -2.789         0.926          2.045          0              0              0              72
  11  SoapBottle      -1.770         0.927          0.348          0              0              0              51
  12  SoapBottle      -2.686         0.900          2.045          0              0              0              72
  13  SaltShaker      -1.986         0.658          0.245          0              0              0              54
  14  SaltShaker      -2.485         0.658          0.245          0              0              0              59
  15  Lettuce         -2.805         1.266          4.278          0              90             0              68
  16  Mug             -2.778         1.001          3.714          0              90             0              71
  17  Mug             -2.377         0.895          2.441          0              0              0              72
  18  Apple           -2.583         0.956          2.441          0              0              0              72
  19  Egg             -1.085         0.961          0.659          0              0              0              51
  20  Plate           -0.304         1.777          0.251          0              0              0              50
  21  Fork            -0.572         0.901          2.932          0              0              0              74
  22  Bread           -0.314         0.957          2.329          0              0              0              74
  23  Apple           -2.686         0.956          1.913          0              0              0              72
  24  Lettuce         -2.831         0.378          4.352          0              90             0              68
  25  Spatula         -2.583         0.915          2.045          0              180            0              72
  26  Knife           -2.269         0.688          0.409          0              0              0              59
  27  Potato          -2.833         0.080          0.419          0              26.101         0              75
  28  Tomato          -2.847         0.696          4.501          0              90             0              68
  29  Cup             -0.191         1.023          0.267          0              0              0              70
  30  SaltShaker      -0.819         0.924          0.650          0              0              0              51
  31  PepperShaker    -2.628         0.931          3.302          0              0              0              58
  32  ButterKnife     -1.266         0.795          0.337          0              0              0              69
  33  SoapBottle      -2.480         0.900          2.573          0              0              0              72
  34  Pan             -0.250         0.926          4.651          0              0              0              53
  35  DishSponge      -2.764         0.053          0.301          0              26.101         0              65
  36  Pot             -0.535         0.928          4.274          0              0              0              55
  37  Spoon           -2.037         0.929          0.348          0              0              0              51
  38  Mug             -2.628         0.930          3.488          0              0              0              58
  39  Bowl            -1.636         1.770          0.160          0              0              0              46
  40  Drawer          -0.325         0.696          0.413          0              0              0
  41  Cabinet         -0.595         0.490          0.648          0              0              0
  42  Cabinet         -0.555         0.490          0.646          0              0              0
  43  Cabinet         -1.591         0.490          0.646          0              0              0
  44  Cabinet         -1.554         0.490          0.646          0              0              0
  45  Cabinet         -2.550         0.490          0.646          0              0              0
  46  Cabinet         -1.514         2.046          0.392          0              0              0
  47  Cabinet         -2.474         2.046          0.392          0              0              0
  48  Cabinet         -1.478         2.046          0.392          0              0              0
  49  Cabinet         -0.518         2.046          0.392          0              0              0
  50  Cabinet         -0.479         2.046          0.392          0              0              0
  51  CounterTop      -1.366         0.952          0.349          0              0              0
  52  Sink            -1.108         0.926          0.340          0              0              0
  53  StoveBurner     -0.254         0.922          4.672          0              0              0
  54  Drawer          -1.824         0.696          0.413          0              0              0
  55  StoveBurner     -0.535         0.922          4.274          0              0              0
  56  StoveBurner     -0.254         0.922          4.274          0              0              0
  57  StoveBurner     -0.536         0.922          4.672          0              0              0
  58  CounterTop      -2.780         0.971          3.487          0              0              0
  59  Drawer          -2.323         0.696          0.413          0              0              0
  60  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  64  Toaster         -0.286         0.861          3.520          0              270            0
  65  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  66  LightSwitch     -0.064         1.447          1.996          0              270            0
  67  Window          -3.075         1.593          1.361          90             90             0
  68  Fridge          -2.802         0.0            4.427          0              0              0
  69  SinkBasin       -1.106         0.785          0.337          0              0              0
  70  Microwave       -0.358         0.917          0.224          0              0              0
  71  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  72  DiningTable     -2.733         -0.003         2.607          0              270            0
  73  Faucet          -1.077         0.920          0.028          270            270            0
  74  DiningTable     -0.488         -0.003         3.182          0              270            0
  75
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn around and approach the sink ahead   | STEP 2: Pick up the butter knife from in the sink | STEP 3: Turn around towards the white table behind you | STEP 4: Cut the bread into slices | STEP 5: Turn back around towards the sink | STEP 6: Open the left most drawer of the counter and place the knife inside and then close the drawer | STEP 7: Turn around again towards the white table directly behind you | STEP 8: Pick up a slice of bread | STEP 9: Turn towards the counter behind you | STEP 10: Open the microwave, place the bread to the right of the glass, close the microwave, turn it on and then open the microwave once the green light goes off, remove the bread | STEP 11: Turn around towards the table behind you and keep it to the right before turning to the right towards the middle of it | STEP 12: Place the slice of bread to the right of the fork on the white table | END