Task: Place chilled bread to the right of apple on white dining table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          -0.5           0              270            0
   1  ButterKnife     0.167          0.912          0.375          0              0              0              46
   2  Pot             1.007          0.962          0.561          0              270            0              49
   3  Spoon           -0.104         0.773          -1.473         0              270            0              50
   4  Spoon           -1.791         0.953          0.524          0              90             0              80
   5  Spatula         1.724          0.927          0.706          0              270            0              62
   6  Egg             -2.340         0.987          0.165          0              90             0              80
   7  Egg             -2.047         1.527          -1.720         0              0              0              77
   8  SoapBottle      1.830          0.107          0.348          0              0              0              55
   9  Tomato          -2.203         1.001          0.345          0              90             0              80
  10  Tomato          -2.31          1.100          -1.720         0              0              0              77
  11  Bowl            1.658          0.911          -1.571         0              0              0              47
  12  SaltShaker      -2.614         0.948          0.435          0              90             0              80
  13  PepperShaker    -0.096         0.908          0.292          0              0              0              46
  14  PepperShaker    -1.928         0.948          0.255          0              90             0              80
  15  Lettuce         1.846          1.002          0.292          0              0              0              62
  16  Lettuce         -1.959         1.142          -1.763         0              0              0              77
  17  Apple           1.846          0.979          0.706          0              0              0              62
  18  Bread           -0.451         0.995          -1.737         0              0              0              47
  19  Knife           1.165          0.906          -1.656         90             285.000        0              47
  20  Fork            0.649          0.920          -1.649         0              270            0              45
  21  Bowl            -1.959         0.510          -1.763         0              0              0              77
  22  Kettle          -2.477         0.953          0.614          0              90             0              80
  23  Cup             1.903          0.910          -1.737         0              0              0              47
  24  Tomato          -1.928         1.001          0.614          0              90             0              80
  25  SoapBottle      -2.065         0.950          0.435          0              90             0              80
  26  Plate           1.681          1.329          -1.809         0              180            0              63
  27  Pot             1.361          0.962          0.561          0              270            0              52
  28  Spatula         0.167          0.927          0.540          0              0              0              46
  29  PaperTowelRoll  0.035          1.016          0.292          0              0              0              46
  30  Egg             0.701          0.954          -1.516         0              270            0              45
  31  Lettuce         1.535          1.002          -1.820         0              0              0              47
  32  SaltShaker      -2.065         0.948          0.524          0              90             0              80
  33  PepperShaker    -2.614         0.948          0.614          0              90             0              80
  34  Apple           -2.203         1.019          0.165          0              90             0              80
  35  ButterKnife     1.724          0.912          0.375          0              0              0              62
  36  Potato          0.306          0.806          -1.745         0              270            0              70
  37  Pan             1.022          0.959          0.288          0              219.190        0              59
  38  DishSponge      -0.175         0.911          -1.489         0              0              0              47
  39  Spoon           -2.477         0.953          0.435          0              180            0              80
  40  Mug             -0.096         0.105          -1.434         0              0              0              56
  41  Cabinet         -0.193         1.688          -1.648         0              180            0
  42  StoveBurner     1.360          0.957          0.293          0              180            0
  43  Drawer          0.499          0.792          0.296          0              0              0
  44  Cabinet         0.095          0.400          -1.352         0              180            0
  45  Sink            0.711          0.817          -1.772         0              270            0
  46  CounterTop      0.280          0.947          0.458          0              0              0
  47  CounterTop      -0.680         0.947          -1.654         0              0              0
  48  Drawer          1.825          0.792          0.296          0              0              0
  49  StoveBurner     1.007          0.957          0.561          0              270            0
  50  Drawer          -0.150         0.792          -1.496         0              0              0
  51  Drawer          -0.586         0.792          -1.496         0              0              0
  52  StoveBurner     1.360          0.957          0.561          0              270            0
  53  Drawer          0.024          0.792          0.296          0              0              0
  54  Cabinet         1.079          0.400          -1.349         0              180            0
  55  Cabinet         1.669          0.402          0.151          0              0              0
  56  Cabinet         0.055          0.402          -1.351         0              0              0
  57  Cabinet         -0.180         0.402          0.151          0              0              0
  58  Cabinet         0.729          0.402          0.151          0              0              0
  59  StoveBurner     1.007          0.957          0.293          0              180            0
  60  Drawer          -1.100         0.792          -1.496         0              0              0
  61  Cabinet         -0.396         0.402          -1.351         0              0              0
  62  CounterTop      1.776          0.947          0.458          0              0              0
  63  Cabinet         1.974          1.688          -1.648         0              180            0
  64  Cabinet         -0.820         0.400          -1.349         0              180            0
  65  Toaster         0.305          0.900          0.552          0              180            0
  66  LightSwitch     -2.756         1.307          -0.987         0              90             0
  67  Window          0.582          1.613          -1.967         90             0              0
  68  Window          1.969          1.5            -0.615         90             270            0
  69  Microwave       -1.037         0.900          -1.723         0              0              0
  70  SinkBasin       0.377          0.765          -1.655         0              270            0
  71  CoffeeMachine   0.618          0.900          0.600          0              180            0
  72  StoveKnob       1.246          0.913          0.118          45             180            0
  73  StoveKnob       1.373          0.913          0.118          45             180            0
  74  StoveKnob       0.995          0.913          0.118          45             180            0
  75  StoveKnob       1.126          0.913          0.118          45             180            0
  76  GarbageCan      -0.368         -0.029         0.539          0              90             0
  77  Fridge          -2.134         0.0            -1.690         0              0              0
  78  Faucet          0.549          1.046          -1.833         0              232.527        0
  79  Stool           -1.475         0.000          0.414          1.233          280.375        0
  80  DiningTable     -2.255         -0.004         0.432          0              0              0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: turn around, go forward to counter with toaster to the right | STEP 2: pick up loaf of bread on counter to the left of toaster | STEP 3: go to the refrigerator to the right | STEP 4: place bread on second shelf of refrigerator below tomato, close refrigerator, open refrigerator, pick up bread from refrigerator, close refrigerator | STEP 5: turn left, go to white dining table | STEP 6: place loaf of bread on white dining table to the right of red apple on table | END