Task: Slice bread with chilled knife, put away knife in cabinet, place slice of bread in refrigerator

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          -0.5           0              180            0
   1  Pan             1.361          0.962          0.294          0              180            0              49
   2  Potato          -2.340         0.982          0.255          0              270            0              87
   3  Potato          -2.047         0.810          -1.806         0              0              0              84
   4  DishSponge      -1.035         0.773          -1.505         0              0              0              67
   5  ButterKnife     0.167          0.912          0.209          0              0              0              53
   6  Fork            1.781          0.912          -1.406         0              0              0              54
   7  Spatula         1.601          0.927          0.209          0              90             0              69
   8  Egg             0.908          0.954          -1.848         0              270            0              52
   9  Egg             -1.928         0.987          0.704          0              90             0              87
  10  Cup             1.412          0.910          -1.820         0              0              0              54
  11  Cup             -2.065         0.950          0.345          0              90             0              87
  12  Plate           0.071          0.107          0.320          0              0              0              64
  13  Knife           0.035          0.937          0.375          0              270            0              53
  14  Knife           -1.928         0.977          0.345          0              90             0              87
  15  SoapBottle      -0.096         0.109          -1.582         0              0              0              63
  16  SoapBottle      0.445          0.108          0.383          0              0              0              65
  17  Tomato          1.907          0.961          0.375          0              0              0              69
  18  SaltShaker      -2.614         0.948          0.435          0              90             0              87
  19  SaltShaker      -2.203         0.948          0.614          0              90             0              87
  20  PepperShaker    1.905          0.104          0.348          0              0              0              62
  21  PepperShaker    1.828          1.325          -1.883         0              180            0              70
  22  Bread           -2.065         1.035          0.165          0              90             0              87
  23  Bread           -1.928         1.035          0.524          0              90             0              87
  24  Mug             -2.397         0.775          -1.806         0              180            0              84
  25  Bread           1.846          0.995          0.623          0              0              0              69
  26  Knife           0.035          0.937          0.540          0              180            0              53
  27  Fork            0.649          0.920          -1.649         0              270            0              52
  28  Bowl            -0.923         1.014          -1.737         0              0              0              76
  29  Kettle          -0.055         0.9            0.643          0              0              0              53
  30  Cup             0.697          0.910          0.292          0              0              0              53
  31  Tomato          -2.397         1.541          -1.849         0              0              0              84
  32  SoapBottle      1.781          0.910          -1.737         0              0              0              54
  33  Plate           0.271          0.109          -1.509         0              180            0              51
  34  Pot             -2.383         0.94           0.583          0              0              0              87
  35  Spatula         -2.065         0.967          0.704          0              0              0              87
  36  PaperTowelRoll  -0.329         0.174          0.482          0              90             0              83
  37  Egg             -2.135         0.815          -1.806         0              0              0              84
  38  Lettuce         0.851          1.001          -1.537         0              231.490        0              52
  39  SaltShaker      1.724          0.908          0.458          0              0              0              69
  40  PepperShaker    1.785          0.908          0.375          0              0              0              69
  41  Apple           1.601          0.979          0.623          0              0              0              69
  42  ButterKnife     -2.477         0.952          0.345          0              90             0              87
  43  Potato          -1.791         0.982          0.255          0              90             0              87
  44  Pan             -0.359         0.911          -1.489         0              0              0              54
  45  DishSponge      -0.644         1.328          -1.846         0              180            0              48
  46  Spoon           -0.632         0.773          -1.505         0              0              0              58
  47  Mug             -2.397         1.046          -1.806         0              90             0              84
  48  Cabinet         -0.193         1.688          -1.648         0              180            0
  49  StoveBurner     1.360          0.957          0.293          0              180            0
  50  Drawer          0.499          0.792          0.296          0              0              0
  51  Cabinet         0.095          0.400          -1.352         0              180            0
  52  Sink            0.711          0.817          -1.772         0              270            0
  53  CounterTop      0.280          0.947          0.458          0              0              0
  54  CounterTop      -0.680         0.947          -1.654         0              0              0
  55  Drawer          1.825          0.792          0.296          0              0              0
  56  StoveBurner     1.007          0.957          0.561          0              270            0
  57  Drawer          -0.150         0.792          -1.496         0              0              0
  58  Drawer          -0.586         0.792          -1.496         0              0              0
  59  StoveBurner     1.360          0.957          0.561          0              270            0
  60  Drawer          0.024          0.792          0.296          0              0              0
  61  Cabinet         1.079          0.400          -1.349         0              180            0
  62  Cabinet         1.669          0.402          0.151          0              0              0
  63  Cabinet         0.055          0.402          -1.351         0              0              0
  64  Cabinet         -0.180         0.402          0.151          0              0              0
  65  Cabinet         0.729          0.402          0.151          0              0              0
  66  StoveBurner     1.007          0.957          0.293          0              180            0
  67  Drawer          -1.100         0.792          -1.496         0              0              0
  68  Cabinet         -0.396         0.402          -1.351         0              0              0
  69  CounterTop      1.776          0.947          0.458          0              0              0
  70  Cabinet         1.974          1.688          -1.648         0              180            0
  71  Cabinet         -0.820         0.400          -1.349         0              180            0
  72  Toaster         0.305          0.900          0.552          0              180            0
  73  LightSwitch     -2.756         1.307          -0.987         0              90             0
  74  Window          0.582          1.613          -1.967         90             0              0
  75  Window          1.969          1.5            -0.615         90             270            0
  76  Microwave       -1.037         0.900          -1.723         0              0              0
  77  SinkBasin       0.377          0.765          -1.655         0              270            0
  78  CoffeeMachine   0.618          0.900          0.600          0              180            0
  79  StoveKnob       1.246          0.913          0.118          45             180            0
  80  StoveKnob       1.373          0.913          0.118          45             180            0
  81  StoveKnob       0.995          0.913          0.118          45             180            0
  82  StoveKnob       1.126          0.913          0.118          45             180            0
  83  GarbageCan      -0.368         -0.029         0.539          0              90             0
  84  Fridge          -2.134         0.0            -1.690         0              0              0
  85  Faucet          0.549          1.046          -1.833         0              232.527        0
  86  Stool           -1.475         0.000          0.414          1.233          280.375        0
  87  DiningTable     -2.255         -0.004         0.432          0              0              0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: turn around, go to right end of white table to the left | STEP 2: pick up loaf of bread sitting on blade of knife | STEP 3: turn left, go to refrigerator | STEP 4: open refrigerator, place bread on top shelf of refrigerator, close refrigerator | STEP 5: turn around, face white table | STEP 6: pick up silver knife from white table | STEP 7: turn around, go to refrigerator | STEP 8: open up the refrigerator door | STEP 9: place knife on second shelf of refrigerator, close refrigerator, open refrigerator, pick up silver knife, close refrigerator | STEP 10: turn around, go to counter with bread to the right of stove | STEP 11: slice bread on counter | STEP 12: turn around, look at upper cabinet above dispenser | STEP 13: open cabinet, place knife in cabinet in front of salt, close cabinet | STEP 14: turn around, face counter with sliced loaf of bread | STEP 15: pick up slice of bread | STEP 16: turn left, go to refrigerator to the left | STEP 17: open refrigerator. place slice of bread on second shelf of refrigerator, close refrigerator | END