Task: slice the bread and cool it in the refrigerator to dispose of it in the trash 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           0.930          -0.5           0              270            0
   1  Potato          -0.239         0.938          -1.496         0              45             0              87
   2  Potato          1.242          0.924          -1.448         0              0              0              112
   3  DishSponge      0.772          0.907          0.093          0              36.810         0              97
   4  DishSponge      0.156          0.899          -1.379         0              45             0              87
   5  Glassbottle     -0.717         0.901          -0.047         0              0              0              66
   6  Glassbottle     3.181          1.465          -1.746         0              0              0              64
   7  Kettle          3.084          0.178          0.770          0              0              0              75
   8  Spatula         3.07           0.768          0.098          0              90             0              111
   9  Spatula         -0.786         0.533          -0.273         0              0              0              93
  10  Fork            -0.868         0.518          -0.011         0              0              0              93
  11  Fork            -0.991         0.131          1.605          0              90             0              90
  12  Mug             1.242          0.706          -1.354         0              270            0              112
  13  Apple           -1.043         0.974          -0.691         0              45             0              66
  14  Apple           -1.018         1.071          1.364          0              90             0              114
  15  Lettuce         0.778          0.976          0.332          0              36.810         0              97
  16  Lettuce         -0.729         0.965          -0.699         0              45             0              66
  17  SaltShaker      3.173          1.460          -1.284         0              0              0              80
  18  PepperShaker    3.113          1.460          -1.599         0              0              0              64
  19  Bowl            -0.935         0.897          0.176          0              0              0              66
  20  Bowl            -1.008         0.897          -0.047         0              0              0              66
  21  SoapBottle      2.914          0.184          -0.453         0              0              0              77
  22  SoapBottle      3.122          0.909          -0.798         0              0              0              65
  23  Tomato          2.987          0.784          0.032          0              90             0              111
  24  Tomato          0.445          0.947          0.326          0              0              0              97
  25  Cup             1.164          1.071          -1.475         0              0              0              112
  26  Cup             3.146          1.262          -0.854         0              0              0              79
  27  Plate           -0.953         0.886          0.699          0              0              0              66
  28  Glassbottle     3.198          0.176          -0.307         0              0              0              77
  29  SoapBottle      3.198          0.184          -0.550         0              0              0              77
  30  Potato          1.008          1.286          -1.448         0              0              0              112
  31  Fork            0.953          0.911          0.567          0              36.810         0              97
  32  Ladle           3.200          0.937          -0.798         0              180            0              65
  33  Pot             -0.420         0.902          -0.920         0              135            0              61
  34  Kettle          0.007          0.901          -1.435         0              45             0              87
  35  Spatula         -0.786         0.341          0.576          0              0              0              67
  36  Knife           -0.991         0.352          -0.273         0              90             0              71
  37  Lettuce         0.661          0.976          0.176          0              36.810         0              97
  38  Cup             -0.789         0.898          0.399          0              0              0              66
  39  SaltShaker      -0.932         0.896          -0.801         0              45             0              66
  40  Egg             3.152          0.799          0.098          0              90             0              111
  41  PepperShaker    -0.786         0.127          -0.011         0              0              0              86
  42  ButterKnife     0.533          0.911          0.326          0              0              0              97
  43  Apple           3.044          0.974          -0.499         0              0              0              65
  44  Pan             0.341          0.873          -1.649         0              167.065        0              87
  45  Bread           1.534          0.972          0.486          0              289.287        0              97
  46  CellPhone       -0.857         0.897          -0.671         0              45             0              66
  47  DishSponge      -0.706         0.328          -0.682         0              45             0              99
  48  Tomato          0.967          0.947          0.747          0              0              0              97
  49  Spoon           1.360          0.909          0.180          0              0              0              97
  50  Bowl            0.783          0.905          0.572          0              36.810         0              97
  51  Mug             3.049          0.966          0.591          0              270            0              109
  52  Drawer          0.376          0.572          -1.509         0              0              0
  53  Drawer          3.020          0.769          -0.783         0              180            0
  54  Drawer          -0.860         0.577          1.429          0              0              0
  55  StoveBurner     -0.600         0.897          -1.090         0              135            0
  56  Drawer          0.376          0.191          -1.509         0              0              0
  57  Cabinet         1.402          1.874          -1.259         0              0              0
  58  Cabinet         -0.202         1.963          -1.328         0              0              0
  59  Drawer          -0.860         0.765          1.429          0              0              0
  60  Drawer          -0.677         0.765          -0.700         0              0              0
  61  StoveBurner     -0.420         0.897          -0.920         0              135            0
  62  Drawer          3.020          0.769          -0.407         0              180            0
  63  Drawer          -0.860         0.577          0.663          0              0              0
  64  Cabinet         2.819          1.768          -1.850         0              0              0
  65  CounterTop      3.111          0.936          0.019          0              0              0
  66  CounterTop      -1.007         0.935          -0.039         0              0              0
  67  Drawer          -0.860         0.385          0.663          0              0              0
  68  StoveBurner     -0.419         0.897          -1.269         0              315            0
  69  Drawer          -0.047         0.573          -1.324         0              0              0
  70  Drawer          -0.860         0.765          0.663          0              0              0
  71  Drawer          -0.860         0.385          -0.100         0              0              0
  72  Drawer          0.376          0.380          -1.509         0              0              0
  73  Drawer          -0.860         0.765          -0.100         0              0              0
  74  Drawer          0.376          0.765          -1.509         0              0              0
  75  Cabinet         2.849          0.419          0.409          0              0              0
  76  Drawer          -0.047         0.765          -1.324         0              0              0
  77  Cabinet         2.849          0.419          -0.610         0              0              0
  78  Cabinet         2.849          0.419          -0.959         0              0              0
  79  Cabinet         3.069          1.666          -0.709         0              0              0
  80  Cabinet         2.819          1.768          -1.047         0              0              0
  81  Cabinet         0.620          1.874          -1.259         0              0              0
  82  Cabinet         0.140          1.666          -1.559         0              0              0
  83  Cabinet         -0.189         1.666          -1.340         0              0              0
  84  Cabinet         -0.709         1.963          -0.819         0              0              0
  85  Cabinet         -0.920         1.665          -0.620         0              0              0
  86  Drawer          -0.860         0.190          -0.100         0              0              0
  87  CounterTop      0.133          0.935          -1.457         0              0              0
  88  Drawer          3.020          0.769          0.695          0              180            0
  89  Drawer          -0.677         0.577          -0.700         0              0              0
  90  Drawer          -0.860         0.190          1.429          0              0              0
  91  Drawer          -0.047         0.192          -1.324         0              0              0
  92  Drawer          -0.677         0.193          -0.700         0              0              0
  93  Drawer          -0.860         0.577          -0.100         0              0              0
  94  Sink            3.078          0.887          0.086          0              0              0
  95  StoveBurner     -0.239         0.897          -1.089         0              315            0
  96  Drawer          -0.860         0.190          0.663          0              0              0
  97  CounterTop      1.210          0.937          0.463          0              0              0
  98  Drawer          -0.047         0.381          -1.324         0              0              0
  99  Drawer          -0.677         0.387          -0.700         0              0              0
 100  Mirror          -1.295         1.630          0.045          0              0              0
 101  Drawer          -0.860         0.385          1.429          0              0              0
 102  HousePlant      3.196          0.891          -0.368         0              0              0
 103  StoveKnob       -0.090         0.790          -1.009         270            45             0
 104  StoveKnob       -0.280         0.790          -0.819         270            45             0
 105  StoveKnob       -0.180         0.790          -0.920         270            45             0
 106  StoveKnob       -0.370         0.790          -0.720         270            45             0
 107  GarbageCan      3.137          0.025          1.545          0              225            0
 108  Window          3.703          1.675          0.046          90             90             0
 109  CoffeeMachine   3.214          0.890          0.697          0              270            0
 110  LightSwitch     2.592          1.309          -1.880         0              0              0
 111  SinkBasin       3.069          0.736          0.108          0              90             0
 112  Fridge          1.008          0.029          -1.467         0              0              0
 113  Toaster         -1.035         0.873          -0.396         0              90             0
 114  Microwave       -1.034         0.874          1.428          0              90             0
 115  Faucet          3.305          0.886          0.094          270            180            0
 116  NorthWall
 117  EastWall
 118  SouthWall
 119  WestWall

Plan:
STEP 1: turn right to face the center counter top | STEP 2: pick up the knife on the counter top to the right of the tomato | STEP 3: go to the other side of the center counter top and face the bread | STEP 4: slice more than half of the bread with the knife | STEP 5: turn around and face the cabinet door below the electronic device | STEP 6: place the knife on top of the tea kettle in the cabinet | STEP 7: face the slices of bread on the center counter top | STEP 8: pick up a slice of bread on the counter top | STEP 9: go around the counter top and proceed to the refrigerator | STEP 10: open the refrigerator and place the slice on the second shelf from the top, then close the door for several seconds before opening the door again and taking the slice out | STEP 11: turn around, then go straight until your reach the far right corner of the room | STEP 12: throw the bread slice in the trash can | END