Task: put a chilled brown oval object on to the kitchen island

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.930          -0.5           0              180            0
   1  Potato          -1.119         1.036          1.523          0              90             0              115
   2  Ladle           3.113          1.501          -1.599         0              0              0              65
   3  Ladle           3.084          0.214          0.770          0              0              0              76
   4  DishSponge      2.947          0.712          0.560          0              180            0              89
   5  ButterKnife     -1.008         0.900          -0.047         0              0              0              67
   6  ButterKnife     -0.868         0.326          1.343          0              0              0              102
   7  Glassbottle     -0.919         1.259          -0.860         0              45             0              86
   8  Glassbottle     0.454          1.260          -1.741         0              0              0              83
   9  Spatula         2.966          0.915          -0.897         0              90             0              66
  10  Spatula         -0.950         0.533          1.518          0              90             0              55
  11  Spoon           0.330          0.706          -1.515         0              90             0              75
  12  Spoon           3.111          0.748          0.298          0              0              0              112
  13  Fork            0.533          0.911          0.627          0              270            0              98
  14  Fork            3.07           0.753          0.098          0              270            0              112
  15  CellPhone       3.277          0.898          -0.499         0              0              0              66
  16  Mug             1.164          1.068          -1.475         0              0              0              113
  17  Mug             -0.789         0.895          0.846          0              0              0              67
  18  Apple           3.181          0.174          1.546          0              225            0              108
  19  Apple           -0.675         0.974          -0.753         0              45             0              67
  20  SaltShaker      0.063          0.896          -1.286         0              45             0              88
  21  Bowl            0.054          0.897          -1.481         0              45             0              88
  22  Bowl            -1.052         0.994          1.364          0              90             0              115
  23  Tomato          -1.070         0.937          -0.664         0              45             0              67
  24  Tomato          0.622          0.947          0.627          0              0              0              98
  25  Plate           0.895          0.921          0.489          0              36.810         0              98
  26  Knife           0.533          0.933          0.326          0              0              0              98
  27  Knife           -0.991         0.543          -0.273         0              90             0              94
  28  Plate           3.031          1.477          -1.235         0              0              0              81
  29  Glassbottle     1.360          0.908          0.747          0              0              0              98
  30  SoapBottle      0.454          1.268          -1.638         0              0              0              83
  31  Potato          -0.862         0.938          0.399          0              0              0              67
  32  Fork            1.098          0.908          0.605          0              180            0              98
  33  Ladle           -0.991         0.743          0.664          0              90             0              71
  34  Pot             0.423          0.900          0.869          0              0              0              98
  35  Kettle          -0.239         0.902          -1.089         0              315            0              96
  36  Spatula         0.967          0.923          0.180          0              180            0              98
  37  Knife           -0.192         0.925          -1.542         0              135            0              88
  38  Lettuce         0.775          0.976          0.213          0              36.810         0              98
  39  Cup             -0.880         0.898          -0.850         0              45             0              67
  40  SaltShaker      -0.708         0.324          -0.730         0              45             0              100
  41  Egg             1.086          0.938          -1.475         0              0              0              113
  42  PepperShaker    3.212          1.260          -0.822         0              0              0              80
  43  ButterKnife     1.098          0.911          0.889          0              0              0              98
  44  Apple           2.888          0.974          0.947          0              0              0              66
  45  Pan             -0.419         0.902          -1.269         0              315            0              69
  46  Bread           1.534          0.972          0.486          0              289.287        0              98
  47  CellPhone       2.988          0.709          -0.501         0              180            0              63
  48  DishSponge      0.304          1.259          -1.741         0              0              0              83
  49  Tomato          -0.717         0.937          -0.494         0              0              0              67
  50  Spoon           -0.868         0.327          0.576          0              0              0              68
  51  Bowl            2.971          0.172          -0.404         0              0              0              78
  52  Mug             -1.018         0.992          1.523          0              180            0              115
  53  Drawer          0.376          0.572          -1.509         0              0              0
  54  Drawer          3.020          0.769          -0.783         0              180            0
  55  Drawer          -0.860         0.577          1.429          0              0              0
  56  StoveBurner     -0.600         0.897          -1.090         0              135            0
  57  Drawer          0.376          0.191          -1.509         0              0              0
  58  Cabinet         1.402          1.874          -1.259         0              0              0
  59  Cabinet         -0.202         1.963          -1.328         0              0              0
  60  Drawer          -0.860         0.765          1.429          0              0              0
  61  Drawer          -0.677         0.765          -0.700         0              0              0
  62  StoveBurner     -0.420         0.897          -0.920         0              135            0
  63  Drawer          3.020          0.769          -0.407         0              180            0
  64  Drawer          -0.860         0.577          0.663          0              0              0
  65  Cabinet         2.819          1.768          -1.850         0              0              0
  66  CounterTop      3.111          0.936          0.019          0              0              0
  67  CounterTop      -1.007         0.935          -0.039         0              0              0
  68  Drawer          -0.860         0.385          0.663          0              0              0
  69  StoveBurner     -0.419         0.897          -1.269         0              315            0
  70  Drawer          -0.047         0.573          -1.324         0              0              0
  71  Drawer          -0.860         0.765          0.663          0              0              0
  72  Drawer          -0.860         0.385          -0.100         0              0              0
  73  Drawer          0.376          0.380          -1.509         0              0              0
  74  Drawer          -0.860         0.765          -0.100         0              0              0
  75  Drawer          0.376          0.765          -1.509         0              0              0
  76  Cabinet         2.849          0.419          0.409          0              0              0
  77  Drawer          -0.047         0.765          -1.324         0              0              0
  78  Cabinet         2.849          0.419          -0.610         0              0              0
  79  Cabinet         2.849          0.419          -0.959         0              0              0
  80  Cabinet         3.069          1.666          -0.709         0              0              0
  81  Cabinet         2.819          1.768          -1.047         0              0              0
  82  Cabinet         0.620          1.874          -1.259         0              0              0
  83  Cabinet         0.140          1.666          -1.559         0              0              0
  84  Cabinet         -0.189         1.666          -1.340         0              0              0
  85  Cabinet         -0.709         1.963          -0.819         0              0              0
  86  Cabinet         -0.920         1.665          -0.620         0              0              0
  87  Drawer          -0.860         0.190          -0.100         0              0              0
  88  CounterTop      0.133          0.935          -1.457         0              0              0
  89  Drawer          3.020          0.769          0.695          0              180            0
  90  Drawer          -0.677         0.577          -0.700         0              0              0
  91  Drawer          -0.860         0.190          1.429          0              0              0
  92  Drawer          -0.047         0.192          -1.324         0              0              0
  93  Drawer          -0.677         0.193          -0.700         0              0              0
  94  Drawer          -0.860         0.577          -0.100         0              0              0
  95  Sink            3.078          0.887          0.086          0              0              0
  96  StoveBurner     -0.239         0.897          -1.089         0              315            0
  97  Drawer          -0.860         0.190          0.663          0              0              0
  98  CounterTop      1.210          0.937          0.463          0              0              0
  99  Drawer          -0.047         0.381          -1.324         0              0              0
 100  Drawer          -0.677         0.387          -0.700         0              0              0
 101  Mirror          -1.295         1.630          0.045          0              0              0
 102  Drawer          -0.860         0.385          1.429          0              0              0
 103  HousePlant      3.196          0.891          -0.368         0              0              0
 104  StoveKnob       -0.090         0.790          -1.009         270            45             0
 105  StoveKnob       -0.280         0.790          -0.819         270            45             0
 106  StoveKnob       -0.180         0.790          -0.920         270            45             0
 107  StoveKnob       -0.370         0.790          -0.720         270            45             0
 108  GarbageCan      3.137          0.025          1.545          0              225            0
 109  Window          3.703          1.675          0.046          90             90             0
 110  CoffeeMachine   3.214          0.890          0.697          0              270            0
 111  LightSwitch     2.592          1.309          -1.880         0              0              0
 112  SinkBasin       3.069          0.736          0.108          0              90             0
 113  Fridge          1.008          0.029          -1.467         0              0              0
 114  Toaster         -1.035         0.873          -0.396         0              90             0
 115  Microwave       -1.034         0.874          1.428          0              90             0
 116  Faucet          3.305          0.886          0.094          270            180            0
 117  NorthWall
 118  EastWall
 119  SouthWall
 120  WestWall

Plan:
STEP 1: turn to the right and move forward to the counter, make a right and move to the center of the counter, turn to the left to face the oval brown object sitting on the counter | STEP 2: pick up the oval brown object from the counter | STEP 3: turn to the left towards the stove and make a left again moving to the fridge on the right side passed the stove, turn to face the fridge | STEP 4: open the fridge door, put the brown oval object in to the fridge on the bottom shelf, close the door for a few seconds, open the door and remove the brown object, close the door | STEP 5: turn around to face the kitchen island | STEP 6: put the brown oval object on to the kitchen island in front of the spatula | END