Task: slice a piece of bread, cool it down, dispose of it in the garbage

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          -1.25          0              270            0
   1  Statue          -2.019         0.910          -0.513         0              90             0              94
   2  Statue          -0.059         1.110          -0.001         0              90             0              69
   3  Vase            -0.335         1.109          0.757          0              0              0              69
   4  CreditCard      1.789          0.877          -2.617         0              180            0              96
   5  CreditCard      -1.783         0.151          -0.149         0              90             0              92
   6  Cup             -0.816         0.134          -2.352         0              0              0              87
   7  Egg             -1.908         0.804          -1.242         0              90             0              104
   8  SoapBottle      -1.755         0.137          -1.156         0              90             0              70
   9  SoapBottle      -1.880         0.048          2.172          0              270            0              100
  10  SaltShaker      1.686          0.877          -2.563         0              180            0              96
  11  SaltShaker      -1.864         0.126          0.339          0              90             0              75
  12  PepperShaker    0.079          1.107          -0.759         0              0              0              69
  13  PepperShaker    1.993          0.877          -2.509         0              180            0              96
  14  Bread           -0.473         1.184          0.757          0              0              0              69
  15  Lettuce         -1.290         0.991          -2.560         0              0              0              94
  16  Lettuce         0.079          1.191          -0.506         0              0              0              69
  17  Apple           -0.070         1.841          -2.546         0              0              0              95
  18  Apple           -1.586         0.961          -2.560         0              0              0              94
  19  Fork            -1.438         0.911          -2.406         0              0              0              94
  20  Spoon           -1.782         0.795          0.155          0              270            0              66
  21  Spoon           -0.995         0.912          -2.329         0              0              0              94
  22  Mug             -1.797         0.764          -1.242         0              270            0              104
  23  Mug             -2.120         0.793          1.003          0              90             0              102
  24  Spatula         -0.335         1.126          -0.001         0              0              0              69
  25  Spatula         0.582          0.925          -2.253         0              0              0              71
  26  ButterKnife     -1.963         0.769          -1.673         0              270            0              104
  27  Kettle          -1.805         0.137          -1.506         0              90             0              70
  28  Kettle          -0.465         0.950          -2.372         0              90             0              67
  29  Glassbottle     -1.962         0.048          2.076          0              270            0              100
  30  Glassbottle     0.079          1.112          0.251          0              0              0              69
  31  WineBottle      1.891          0.881          -2.563         0              180            0              96
  32  DishSponge      0.582          0.910          -2.637         0              0              0              71
  33  DishSponge      -1.797         0.769          -1.501         0              90             0              104
  34  Book            0.155          1.1            0.617          0              315            0              69
  35  Glassbottle     -1.438         0.912          -2.713         0              0              0              94
  36  Knife           -1.774         0.936          -2.475         0              90             0              94
  37  Bread           -1.774         0.983          -0.884         0              0              0              94
  38  Fork            -1.963         0.770          -1.414         0              90             0              104
  39  Potato          -2.019         0.941          -2.695         0              0              0              94
  40  SoapBottle      -1.013         1.657          -2.640         0              0              0              83
  41  Kettle          -0.036         0.950          -2.576         0              270            0              72
  42  Pan             -0.473         1.111          0.251          0              0              0              69
  43  Plate           -2.070         1.302          1.092          0              90             0              102
  44  Tomato          0.840          0.949          -2.407         0              0              0              71
  45  Vase            -1.401         1.660          -2.604         0              0              0              85
  46  Egg             -0.848         0.946          -2.560         0              0              0              94
  47  CreditCard      -0.059         1.108          -0.506         0              0              0              69
  48  Statue          1.789          0.551          -2.459         0              180            0              99
  49  WineBottle      0.840          0.911          -2.637         0              0              0              71
  50  Pot             -1.219         0.9            -2.356         0              0              0              94
  51  Spatula         -2.100         0.926          -2.366         0              90             0              94
  52  PaperTowelRoll  0.840          1.014          -2.253         0              0              0              71
  53  Cup             1.996          0.550          -2.666         0              180            0              99
  54  Vase            -0.840         1.653          -2.604         0              0              0              83
  55  Bowl            -1.755         0.132          -1.856         0              90             0              70
  56  SaltShaker      0.451          1.656          -2.525         0              0              0              93
  57  PepperShaker    0.324          0.907          -2.330         0              0              0              71
  58  Lettuce         1.098          0.990          -2.484         0              0              0              71
  59  ButterKnife     0.217          1.111          -0.253         0              0              0              69
  60  Apple           0.217          1.162          0.251          0              0              0              69
  61  DishSponge      -1.825         0.793          0.199          0              90             0              66
  62  Spoon           -0.995         0.912          -2.560         0              0              0              94
  63  Mug             -0.225         1.785          -2.578         0              0              0              95
  64  StoveBurner     -0.036         0.915          -2.372         0              0              0
  65  Drawer          0.949          0.832          -2.197         0              0              0
  66  Drawer          -1.560         0.839          0.204          0              90             0
  67  StoveBurner     -0.465         0.915          -2.371         0              180            0
  68  Drawer          -1.560         0.839          -0.197         0              90             0
  69  CounterTop      -0.079         1.147          -0.001         0              0              0
  70  Cabinet         -1.549         0.494          -1.964         0              90             0
  71  CounterTop      0.693          0.946          -2.483         0              0              0
  72  StoveBurner     -0.036         0.915          -2.576         0              0              0
  73  Drawer          0.949          0.393          -2.200         0              0              0
  74  Drawer          0.949          0.708          -2.200         0              0              0
  75  Cabinet         -1.549         0.494          0.379          0              90             0
  76  StoveKnob       -0.022         0.881          -2.187         45             0              0
  77  Drawer          0.949          0.560          -2.201         0              0              0
  78  StoveBurner     -0.465         0.915          -2.575         0              180            0
  79  Window          -2.230         1.429          -1.203         0              0              0
  80  StoveKnob       -0.483         0.881          -2.187         45             0              0
  81  Sink            -1.899         0.964          -1.5           0              90             0
  82  StoveKnob       -0.328         0.881          -2.187         45             0              0
  83  Cabinet         -0.727         2.015          -2.460         0              0              0
  84  Drawer          -1.560         0.655          -0.196         0              90             0
  85  Cabinet         -1.685         2.015          -2.461         0              0              0
  86  Cabinet         0.680          0.494          -2.200         0              0              0
  87  Cabinet         -1.179         0.494          -2.200         0              0              0
  88  Cabinet         -1.849         2.015          0.379          0              90             0
  89  Drawer          0.949          0.221          -2.200         0              0              0
  90  StoveKnob       -0.183         0.881          -2.187         45             0              0
  91  Cabinet         0.719          2.015          -2.460         0              0              0
  92  Drawer          -1.560         0.331          -0.196         0              90             0
  93  Cabinet         0.680          2.015          -2.460         0              0              0
  94  CounterTop      -1.868         0.946          -1.205         0              0              0
  95  Microwave       -0.236         1.689          -2.525         0              0              0
  96  Shelf           1.751          0.880          -2.560         0              0              0
  97  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  98  Toaster         -1.835         0.900          0.134          0              90             0
  99  Shelf           1.750          0.552          -2.559         0              0              0
 100  GarbageCan      -1.935         -0.002         2.029          0              270            0
 101  Shelf           1.750          0.172          -2.559         0              0              0
 102  Fridge          -2.096         0.0            1.088          0              0              0
 103  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
 104  SinkBasin       -1.908         0.759          -1.488         0              90             0
 105  LightSwitch     2.329          1.309          -0.159         0              270            0
 106  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 107  Stool           0.702          0.000          -0.514         1.202          65.108         0
 108  Stool           0.743          0.000          0.563          1.227          106.706        0
 109  Faucet          -2.070         1.132          -1.514         0              0              0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: look straight to face the kitchen sink | STEP 2: pick up the knife in the sink | STEP 3: go to the center counter top and face the bread on the short edge of the table | STEP 4: slice the bread on the counter top | STEP 5: turn right to face the refrigerator | STEP 6: open the refrigerator door and place the knife on the top shelf | STEP 7: return to the center counter top behind you and face the bread | STEP 8: pick up a slice of bread on the counter top | STEP 9: turn right to face the refrigerator door again | STEP 10: open the door, place the bread on the top shelf behind the knife, and shut the door for a few seconds before removing the bread | STEP 11: look to the right of the refrigerator at the trash bin | STEP 12: throw the bread in the trash bin | END