Task: slice some bread and cool it down 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           -2.75          0.914          0.5            0              0              0
   1  Pan             -3.143         0.966          1.971          0              0              0              61
   2  Potato          -3.654         0.948          1.273          0              0              0              50
   3  DishSponge      -3.097         0.744          1.510          0              0              0              42
   4  WineBottle      -2.402         0.916          4.106          0              0              0              41
   5  WineBottle      -2.759         0.081          3.586          0              0              0              53
   6  Kettle          -2.410         0.082          3.664          0              0              0              52
   7  Egg             -1.129         0.121          3.692          0              270            0              73
   8  Egg             -1.256         0.121          3.852          0              270            0              73
   9  Cup             -1.787         0.891          0.049          0              90             0              77
  10  Cup             -1.523         0.891          0.152          0              90             0              77
  11  Knife           -1.127         0.915          0.255          0              90             0              77
  12  SaltShaker      -3.559         0.912          1.357          0              0              0              50
  13  PepperShaker    -3.540         1.455          2.922          0              0              0              48
  14  Lettuce         -3.368         1.001          3.663          0              0              0              41
  15  Bread           -1.523         0.972          -0.053         0              90             0              77
  16  Mug             -3.368         0.910          1.189          0              0              0              50
  17  Mug             -0.790         0.981          3.863          0              180            0              67
  18  Egg             -1.192         0.121          3.852          0              270            0              73
  19  Knife           -1.787         0.915          0.255          0              90             0              77
  20  Fork            -1.259         0.892          0.461          0              90             0              77
  21  Bread           -0.994         0.972          0.152          0              90             0              77
  22  Potato          -1.391         0.923          0.152          0              90             0              77
  23  Plate           -3.006         0.904          3.677          0              0              0              41
  24  Pot             -3.424         0.966          2.374          0              0              0              47
  25  Kettle          -3.508         1.460          1.454          0              0              0              59
  26  WineBottle      -1.655         0.892          0.461          0              90             0              77
  27  Bowl            -3.505         1.453          3.504          0              0              0              58
  28  Tomato          -1.921         0.858          3.737          0              0              0              71
  29  Cup             -3.442         1.546          2.068          0              90             0              72
  30  Spatula         -1.729         0.804          3.7            0              0              0              71
  31  SoapBottle      -1.127         0.891          -0.053         0              90             0              77
  32  Lettuce         -0.673         1.072          4.051          0              180            0              67
  33  Pan             -3.424         0.966          1.971          0              0              0              49
  34  Apple           -1.919         0.975          4.146          0              0              0              41
  35  SaltShaker      -2.881         0.076          3.663          0              0              0              53
  36  PepperShaker    -1.259         0.887          0.049          0              90             0              77
  37  ButterKnife     -1.840         0.779          3.674          0              0              0              71
  38  DishSponge      -3.471         1.454          3.805          0              0              0              58
  39  Spoon           -2.804         0.902          3.567          0              0              0              41
  40  Mug             -3.424         0.945          3.275          0              90             0              41
  41  CounterTop      -3.381         0.950          3.335          0              0              0
  42  Drawer          -3.121         0.775          1.357          0              0              0
  43  Drawer          -3.121         0.777          2.916          0              0              0
  44  StoveBurner     -3.148         0.958          2.374          0              0              0
  45  Sink            -1.797         0.917          3.660          0              0              0
  46  Cabinet         -1.421         0.388          3.459          0              0              0
  47  StoveBurner     -3.424         0.958          2.374          0              0              0
  48  Cabinet         -3.365         1.931          2.676          0              0              0
  49  StoveBurner     -3.424         0.958          1.971          0              0              0
  50  CounterTop      -3.381         0.951          1.356          0              0              0
  51  Drawer          -3.121         0.781          3.295          0              0              0
  52  Cabinet         -2.205         0.388          3.459          0              0              0
  53  Cabinet         -2.963         0.388          3.459          0              0              0
  54  Cabinet         -2.992         0.388          2.683          0              0              0
  55  Cabinet         -3.352         2.205          1.715          0              0              0
  56  Cabinet         -3.352         2.205          2.653          0              0              0
  57  Cabinet         -2.189         0.388          3.466          0              0              0
  58  Cabinet         -3.365         1.931          3.963          0              0              0
  59  Cabinet         -3.365         1.931          1.056          0              0              0
  60  Cabinet         -2.992         0.388          1.037          0              0              0
  61  StoveBurner     -3.143         0.958          1.971          0              0              0
  62  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  63  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  64  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  65  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  66  Toaster         -2.654         0.902          4.064          0              180            0
  67  Fridge          -0.439         0.014          3.996          0              0              0
  68  LightSwitch     0.25           1.383          2.085          0              270            0
  69  Window          -1.430         1.338          -0.347         90             0              0
  70  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  71  SinkBasin       -1.802         0.778          3.700          0              0              0
  72  Microwave       -3.484         1.430          2.182          0              90             0
  73  GarbageCan      -1.184         -0.020         3.794          0              270            0
  74  Blinds          -1.404         2.092          -0.296         0              0              0
  75  Stool           -1.373         0.014          1.048          1.214          20.754         0
  76  Faucet          -1.788         0.903          3.931          270            90             0
  77  DiningTable     -1.399         0.010          0.238          0              0              0
  78  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: go straight, then move around the white table to the opposite side | STEP 2: pick up the knife with the yellow handle on the white table | STEP 3: face the loaf of bread on the white table | STEP 4: slice half of the bread on the table | STEP 5: place the knife on the table to the right of the bread | STEP 6: pick up a slice of bread from the table | STEP 7: turn right and move to the refrigerator on the opposite side of the room | STEP 8: open the refrigerator, place the bread on the second from the top shelf, close the door for several seconds, then open it again to take the slice out | STEP 9: go back to the white table and face the bread slices | STEP 10: place the slice of bread to the right of the knife on the table | END