Task: Slice a loaf of bread, chill a slice, place it in the green bin

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          0.5            0              270            0
   1  DishSponge      -0.963         0.913          -2.260         0              0              0              65
   2  DishSponge      -0.160         0.930          0.076          0              0              0              82
   3  ButterKnife     0.180          0.926          0.076          0              0              0              82
   4  Spatula         0.294          0.941          1.220          0              0              0              82
   5  Spatula         -0.047         0.941          0.534          0              0              0              82
   6  Spoon           -0.283         0.765          -2.071         0              0              0              77
   7  Egg             1.872          0.140          0.083          0              0              0              66
   8  Egg             -0.047         0.980          0.991          0              0              0              82
   9  Cup             1.256          0.119          -1.914         0              0              0              57
  10  Cup             -0.160         0.930          0.762          0              0              0              82
  11  Tomato          0.522          0.978          0.534          0              0              0              82
  12  SoapBottle      -0.047         0.925          0.305          0              0              0              82
  13  SoapBottle      1.690          0.119          -1.528         0              270            0              57
  14  Bowl            -0.668         0.910          -2.200         0              0              0              65
  15  Bowl            -0.137         0.761          -2.026         0              90             0              77
  16  Lettuce         -0.160         1.008          0.305          0              0              0              82
  17  SaltShaker      -0.657         0.108          -1.917         0              0              0              58
  18  SaltShaker      -1.109         0.909          -2.188         0              0              0              65
  19  PepperShaker    1.566          0.877          2.429          0              0              0              86
  20  Mug             1.850          0.908          -2.002         0              0              0              65
  21  Apple           -1.317         1.086          -1.846         0              90             0              71
  22  Apple           0.066          0.997          0.762          0              0              0              82
  23  Apple           0.689          0.984          -1.751         0              0              0              65
  24  Potato          0.408          0.959          0.305          0              0              0              82
  25  Bowl            1.359          0.549          2.534          0              0              0              91
  26  SoapBottle      1.877          0.551          2.482          0              0              0              85
  27  Fork            -0.772         0.914          -2.200         0              0              0              65
  28  Ladle           1.738          0.957          -1.446         0              0              0              65
  29  Bread           0.457          0.958          -1.918         0              0              0              65
  30  Lettuce         1.919          0.994          -1.329         0              0              0              65
  31  WineBottle      -0.927         0.914          -2.115         0              0              0              65
  32  Spatula         -0.047         0.945          1.220          0              0              0              82
  33  Plate           1.690          0.123          -1.266         0              270            0              59
  34  SaltShaker      1.647          0.909          -1.446         0              0              0              65
  35  Pot             1.567          0.948          -0.757         0              0              0              47
  36  Cup             1.828          0.913          -1.095         0              0              0              65
  37  PepperShaker    1.828          0.909          -1.563         0              0              0              65
  38  Pan             1.845          0.948          -0.355         0              0              0              46
  39  ButterKnife     0.066          0.930          0.534          0              0              0              82
  40  Tomato          0.379          0.975          0.721          0              0              0              82
  41  DishSponge      2.009          0.913          -1.797         0              0              0              65
  42  Egg             -0.356         0.818          -1.936         0              0              0              77
  43  Spoon           1.557          0.914          -1.329         0              0              0              65
  44  Knife           -0.047         0.950          1.448          0              0              0              82
  45  Mug             1.362          0.875          2.456          0              0              0              92
  46  StoveBurner     1.845          0.940          -0.355         0              0              0
  47  StoveBurner     1.567          0.940          -0.757         0              0              0
  48  Cabinet         -1.149         2.019          -1.979         0              90             0
  49  Cabinet         -1.149         2.265          -0.834         0              90             0
  50  Cabinet         -0.459         2.265          -2.0           0              0              0
  51  Cabinet         -1.100         2.019          -2.0           0              0              0
  52  Cabinet         1.719          2.019          -2.0           0              0              0
  53  Cabinet         1.179          2.019          -2.0           0              0              0
  54  Cabinet         0.199          2.019          -2.0           0              0              0
  55  Cabinet         1.75           2.019          -1.399         0              270            0
  56  Cabinet         1.75           2.019          -1.029         0              270            0
  57  Cabinet         1.379          0.469          -1.689         0              0              0
  58  Cabinet         -0.819         0.469          -1.689         0              0              0
  59  Cabinet         1.389          0.469          -1.059         0              270            0
  60  Cabinet         -0.839         0.469          -1.665         0              90             0
  61  StoveBurner     1.567          0.940          -0.355         0              0              0
  62  StoveBurner     1.845          0.940          -0.757         0              0              0
  63  Sink            -0.109         0.893          -2.009         0              0              0
  64  Drawer          -0.819         0.75           -1.690         0              0              0
  65  CounterTop      0.232          0.949          -2.002         0              0              0
  66  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  67  Vase            0.251          0.546          0.475          0              270            0
  68  Toaster         0.780          0.900          -2.080         0              0              0
  69  LightSwitch     0.108          1.315          2.75           0              180            0
  70  Vase            0.400          0.925          0.218          0              180            0
  71  Microwave       -1.233         0.900          -1.680         0              90             0
  72  Vase            1.465          1.662          -2.200         0              0              0
  73  Fridge          -1.495         0.0            -0.703         0              0              0
  74  Window          2.114          1.495          1.072          90             270            0
  75  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  76  Vase            0.333          0.546          1.272          0              270            0
  77  SinkBasin       -0.148         0.753          -2.026         0              0              0
  78  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  81  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  82  DiningTable     0.170          0.005          0.678          0              270            0
  83  Shelf           0.170          0.155          0.678          0              270            0
  84  Shelf           1.605          0.172          2.480          0              0              0
  85  Shelf           1.605          0.552          2.480          0              0              0
  86  Shelf           1.604          0.880          2.479          0              0              0
  87  ShelvingUnit    1.605          0.006          2.480          0              0              0
  88  Faucet          -0.143         1.028          -2.223         0              270            0
  89  Stool           -0.553         0.000          0.871          1.233          280.376        0
  90  Shelf           0.170          0.528          0.678          0              270            0
  91
  92
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn to your left and walk to the end of the table where the green sponge will be on the left. | STEP 2: Pick up the knife closest to you. | STEP 3: Turn around and walk to the counter with the apple and bread on it. | STEP 4: Slice half of the loaf of bread. | STEP 5: Move left to stand in front of the apple. | STEP 6: Place the knife on the counter to the immediate left of the apple. | STEP 7: Move to your right to stand in front of the loaf of bread. | STEP 8: Pick up the center slice of bread. | STEP 9: Turn and walk to the fridge. | STEP 10: Open the fridge door and place the bread in the gray bin directly above the crisper drawers, close the fridge door; allow to cool, open the fridge door, pick up the slice of bread, close the door. | STEP 11: Turn and walk to the green bin to the left of the stove. | STEP 12: Place the bread slice in the green bin. | END