Task: Cut a slice of bread and cool it in the refrigerator

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           0.899          0.5            0              0              0
   1  Pencil          -0.411         0.925          5.273          0              0              0              56
   2  Potato          -0.301         1.614          3.228          0              270            0              104
   3  DishSponge      -3.528         0.744          1.927          0              0              0              77
   4  DishSponge      -3.163         0.079          5.155          0              90             0              49
   5  WineBottle      -3.255         0.924          5.489          0              90             0              71
   6  Pot             -2.469         0.930          1.712          0              270            0              86
   7  Fork            -0.411         0.925          4.615          0              0              0              56
   8  Spatula         -0.334         0.940          4.944          0              0              0              56
   9  Plate           -0.301         1.336          3.479          0              270            0              104
  10  Plate           -4.411         0.924          4.381          0              90             0              71
  11  SoapBottle      -4.411         0.923          5.159          0              90             0              71
  12  SoapBottle      -1.610         0.923          2.026          0              90             0              53
  13  Tomato          -4.233         0.848          3.222          0              270            0              103
  14  Tomato          -0.295         1.127          3.602          0              270            0              104
  15  Bowl            -0.181         0.922          4.615          0              0              0              56
  16  SaltShaker      -4.139         1.452          1.937          0              45             0              72
  17  SaltShaker      -3.124         0.741          5.162          0              180            0              83
  18  Bread           -1.610         1.003          1.8            0              0              0              53
  19  Mug             -0.409         0.955          6.557          0              270            0              92
  20  Apple           -4.108         0.976          4.900          0              90             0              71
  21  Egg             -0.401         1.106          3.231          0              270            0              104
  22  Apple           -2.740         1.599          1.633          0              0              0              101
  23  Knife           -1.777         0.953          1.875          0              90             0              53
  24  Potato          -0.342         1.614          3.409          0              270            0              104
  25  Fork            -4.312         0.924          2.416          0              90             0              71
  26  Bowl            -4.196         0.787          3.410          0              270            0              103
  27  Plate           -3.852         0.924          5.336          0              90             0              71
  28  Lettuce         -4.191         1.003          2.538          0              278.173        0              71
  29  Bread           -1.860         1.003          1.8            0              0              0              53
  30  Tomato          -3.675         0.125          6.416          0              270            0              97
  31  WineBottle      -0.488         0.926          5.603          0              0              0              56
  32  Spatula         -3.613         0.938          5.182          0              180            0              71
  33  PaperTowelRoll  -0.565         1.029          6.261          0              0              0              56
  34  Cup             -0.295         1.069          3.974          0              270            0              104
  35  Pencil          -3.888         0.745          5.192          0              90             0              74
  36  Pan             -2.454         0.933          2.023          0              240.000        0              59
  37  Pot             -2.924         0.930          1.712          0              180            0              68
  38  SaltShaker      -0.411         0.921          5.932          0              0              0              82
  39  SoapBottle      -2.109         0.923          1.648          0              180            0              53
  40  PepperShaker    -3.827         0.743          1.985          0              0              0              48
  41  ButterKnife     -0.334         0.925          4.944          0              90             0              56
  42  DishSponge      -3.323         1.459          5.440          0              90             0              57
  43  Spoon           -0.181         0.926          4.944          0              0              0              56
  44  Mug             -0.259         1.680          3.975          0              270            0              104
  45  Cabinet         -3.203         1.931          1.777          0              0              0
  46  Cabinet         -3.187         0.390          2.089          0              0              0
  47  Cabinet         -0.637         0.387          6.882          0              180            0
  48  Drawer          -3.797         0.781          1.961          0              0              0
  49  Cabinet         -3.036         0.387          5.029          0              90             0
  50  Drawer          -0.509         0.775          5.268          0              270            0
  51  Drawer          -4.125         0.798          2.499          0              0              0
  52  Cabinet         -0.331         2.249          4.308          0              180            0
  53  CounterTop      -1.872         0.958          1.799          0              0              0
  54  StoveBurner     -2.924         0.924          2.012          0              0              0
  55  Cabinet         -0.331         2.249          6.806          0              180            0
  56  CounterTop      -0.345         0.960          5.603          0              0              0
  57  Cabinet         -3.039         1.935          5.321          0              90             0
  58  Cabinet         -3.922         0.397          2.088          0              0              0
  59  StoveBurner     -2.467         0.924          2.012          0              0              0
  60  Cabinet         -0.331         2.249          5.505          0              180            0
  61  Drawer          -0.509         0.775          4.617          0              270            0
  62  Drawer          -3.509         0.777          5.157          0              180            0
  63  Cabinet         -3.961         0.388          2.878          0              0              0
  64  Cabinet         -3.961         0.388          4.342          0              0              0
  65  Cabinet         -0.637         0.387          5.582          0              180            0
  66  Cabinet         -0.637         0.388          4.299          0              180            0
  67  Cabinet         -0.637         0.388          5.599          0              180            0
  68  StoveBurner     -2.924         0.924          1.712          0              180            0
  69  Drawer          -1.859         0.775          1.961          0              0              0
  70  Cabinet         -0.331         2.249          5.609          0              180            0
  71  CounterTop      -4.260         0.958          4.943          0              90             0
  72  Cabinet         -4.284         1.931          2.226          0              0              0
  73  Cabinet         -0.331         2.249          3.010          0              180            0
  74  Drawer          -3.801         0.777          5.157          0              180            0
  75  Cabinet         -4.112         1.935          5.321          0              90             0
  76  Cabinet         -3.968         0.388          3.662          0              0              0
  77  Drawer          -3.418         0.777          1.961          0              0              0
  78  Drawer          -4.090         0.777          4.661          0              90             0
  79  Faucet          -4.441         0.909          3.288          270            0              0
  80  Cabinet         -0.331         2.249          4.207          0              180            0
  81  Cabinet         -3.961         0.388          2.119          0              0              0
  82  Drawer          -0.509         0.775          5.920          0              270            0
  83  Drawer          -3.193         0.777          5.157          0              180            0
  84  Cabinet         -3.968         0.388          2.894          0              0              0
  85  Cabinet         -3.667         0.387          5.029          0              90             0
  86  StoveBurner     -2.469         0.924          1.712          0              270            0
  87  Cabinet         -1.539         0.388          2.090          0              0              0
  88  Sink            -4.190         0.921          3.279          0              0              0
  89  Cabinet         -3.641         0.387          5.029          0              90             0
  90  Cabinet         -1.583         1.931          1.777          0              0              0
  91  Drawer          -0.509         0.775          6.568          0              270            0
  92  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  93  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  96  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  97  GarbageCan      -3.711         -0.030         6.376          0              270            0
  98  Toaster         -3.578         0.912          1.763          0              0              0
  99  Curtains        -4.522         2.252          3.391          90             90             0
 100  Window          -4.868         1.629          3.309          90             270            0
 101  Microwave       -2.693         1.430          1.689          0              0              0
 102  LightSwitch     -1.588         1.169          1.506          0              0              0
 103  SinkBasin       -4.196         0.780          3.276          0              270            0
 104  Fridge          -0.324         -0.001         3.602          0              0              0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: go straight and turn left to face the counter top | STEP 2: pick up the knife with the yellow handle | STEP 3: face the loaf of bread closest to you | STEP 4: slice the loaf of bread on the counter top closest to the edge | STEP 5: walk to the refrigerator and face it | STEP 6: open the refrigerator door and place the knife on the bottom shelf | STEP 7: return to the counter top with the bread | STEP 8: pick up a slice of bread | STEP 9: go back to the refrigerator | STEP 10: open the refrigerator door and place the slice of bread to the left of the knife, then open the door after a few seconds and carry the bread out | STEP 11: turn left, and face the counter top to the left of the refrigerator | STEP 12: place the bread slice on the counter top to the right of the wine bottle | END