Task: Set down a refrigerated slice of bread next to some items on a shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.869          -1.0           0              90             0
   1  Potato          -1.719         0.734          -0.875         0              0              0              81
   2  Potato          0.746          0.498          -1.725         0              270            0              65
   3  ButterKnife     0.601          0.664          0.387          0              90             0              50
   4  Spatula         -1.535         0.711          -3.782         0              90             0              72
   5  Fork            -1.886         0.702          -0.875         0              0              0              81
   6  Fork            0.623          0.761          -0.061         0              90             0              44
   7  Plate           0.787          0.019          -0.053         0              0              0              55
   8  Knife           0.769          0.783          0.002          0              270            0              44
   9  Knife           0.671          0.783          0.002          0              270            0              44
  10  Tomato          -1.297         0.100          -3.647         0              270            0              60
  11  SoapBottle      0.877          0.882          -0.176         0              0              0              45
  12  Bowl            0.949          1.462          -0.207         0              0              0              56
  13  Bowl            -1.056         0.899          1.187          0              270            0              71
  14  PepperShaker    0.781          0.660          0.569          0              0              0              50
  15  PepperShaker    0.842          0.012          -0.898         0              0              0              48
  16  SaltShaker      0.781          0.660          0.387          0              0              0              50
  17  Bread           -1.719         0.745          -1.307         0              0              0              81
  18  Lettuce         -0.051         0.987          0.929          0              270            0              71
  19  Lettuce         0.901          0.752          0.508          0              0              0              50
  20  Mug             0.785          0.660          -2.113         0              270            0              65
  21  Apple           -2.002         0.852          -3.673         0              0              0              67
  22  Apple           -0.855         0.954          1.187          0              270            0              71
  23  Pot             -1.555         0.930          1.049          0              0              0              54
  24  Plate           -2.023         0.692          -1.447         0              0              0              81
  25  Fork            0.720          0.761          -0.061         0              90             0              44
  26  SoapBottle      -1.970         0.701          -1.091         0              0              0              81
  27  Apple           1.040          0.937          -0.913         0              0              0              45
  28  Pan             -2.097         0.930          1.049          0              0              0              52
  29  Egg             -1.635         0.738          -0.875         0              0              0              81
  30  Spatula         -0.855         0.915          1.272          0              180            0              71
  31  Potato          0.785          1.407          -1.725         0              270            0              65
  32  Cup             0.582          0.882          -0.039         0              0              0              45
  33  SaltShaker      -1.620         0.696          -3.361         0              0              0              72
  34  PepperShaker    0.661          0.660          0.265          0              0              0              50
  35  ButterKnife     0.841          0.664          0.448          0              90             0              50
  36  DishSponge      0.661          0.664          0.569          0              0              0              50
  37  Bread           -0.873         0.931          0.978          0              24.231         0              71
  38  Lettuce         0.661          0.751          0.448          0              0              0              50
  39  Tomato          0.799          0.820          -0.680         0              270            0              68
  40  Spoon           -0.051         0.901          0.843          0              270            0              71
  41  Knife           0.574          0.782          -0.124         0              90             0              44
  42  Mug             0.812          1.458          -0.022         0              0              0              56
  43  Bowl            0.858          1.462          0.411          0              0              0              57
  44  Drawer          0.706          0.766          -0.125         0              0              0
  45  CounterTop      0.792          0.919          -0.108         0              0              0
  46  Mirror          1.093          1.602          -0.643         0              0              0
  47  StoveBurner     -2.096         0.890          0.785          0              0              0
  48  Cabinet         0.507          0.345          -0.426         0              0              0
  49  StoveBurner     -1.552         0.890          0.785          0              0              0
  50  SideTable       0.770          -0.030         0.443          0              0              0
  51  Sink            0.753          0.882          -0.680         0              0              0
  52  StoveBurner     -2.096         0.890          1.049          0              0              0
  53  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  54  StoveBurner     -1.554         0.890          1.049          0              0              0
  55  Cabinet         0.507          0.345          0.156          0              0              0
  56  Cabinet         0.717          1.822          -0.398         0              0              0
  57  Cabinet         0.717          1.822          0.669          0              0              0
  58  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  59  Toaster         -0.522         0.886          1.081          0              180            0
  60  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  61  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  62  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  63  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  64  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  65  Fridge          0.680          -0.031         -1.957         0              0              0
  66  Window          -2.424         1.639          -2.453         90             270            0
  67  Microwave       -1.994         0.690          -3.651         0              0              0
  68  SinkBasin       0.757          0.762          -0.688         0              270            0
  69  LightSwitch     1.102          1.368          -3.737         0              270            0
  70  Shelf           -0.350         0.124          0.857          0              0              0
  71  DiningTable     -0.350         -0.025         0.857          0              0              0
  72  DiningTable     -1.909         -0.032         -3.507         0              0              0
  73  Blinds          -2.343         2.151          -2.437         0              270            0
  74  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  75  AluminumFoil    0.751          0.225          0.287          0              0              0
  76  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  77  Shelf           0.771          0.226          0.445          0              0              0
  78  Shelf           0.771          0.456          0.446          0              0              0
  79  Faucet          1.025          0.873          -0.678         270            180            0
  80  Shelf           -0.350         0.497          0.857          0              0              0
  81  DiningTable     -1.929         -0.035         -1.398         0              90             0
  82  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn left, walk to the table, then turn right. | STEP 2: Pick up the knife in front of the cabbage. | STEP 3: Turn around and carry the knife to the table with the loaves of bread. | STEP 4: Slice the left half of the front loaf of bread. | STEP 5: Turn around and carry the knife across the room. | STEP 6: Set the knife on top of the right salt shaker. | STEP 7: Turn around and walk back across the room to the sliced loaf of bread. | STEP 8: Pick up a slice of bread from the middle of the loaf. | STEP 9: Turn around and carry the slice of bread across the room. | STEP 10: Put the slice of bread in the refrigerator, close the refrigerator, then open it and take it back out again. | STEP 11: Turn left and carry the slice of bread across the room. | STEP 12: St the slice of bread down next to the knife and between the middle salt shaker and the right salt shaker. | END