Task: Place a cold loaf of bread on a counter top

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          -0.25          0              0              0
   1  Kettle          -2.614         0.953          0.524          0              90             0              85
   2  Kettle          -0.634         0.111          -1.508         0              0              0              66
   3  Potato          -0.329         0.100          0.612          0              90             0              81
   4  Potato          -1.959         0.810          -1.849         0              0              0              82
   5  DishSponge      -1.099         0.773          -1.505         0              0              0              65
   6  Pot             1.361          0.962          0.561          0              270            0              57
   7  Fork            -2.065         0.952          0.255          0              90             0              85
   8  Fork            0.035          0.912          0.458          0              180            0              51
   9  Spoon           -0.012         0.775          -1.473         0              270            0              55
  10  Spoon           0.753          0.920          -1.715         0              270            0              50
  11  Spatula         1.724          0.927          0.375          0              270            0              67
  12  Cup             1.535          0.910          -1.489         0              0              0              52
  13  Plate           -0.359         0.913          -1.820         0              0              0              52
  14  SoapBottle      0.432          0.910          0.209          0              0              0              51
  15  SoapBottle      0.564          0.910          0.292          0              0              0              51
  16  Tomato          1.663          0.961          0.540          0              0              0              67
  17  Tomato          -1.791         1.001          0.165          0              90             0              85
  18  PepperShaker    0.328          0.106          0.346          0              0              0              63
  19  PepperShaker    -2.065         0.948          0.704          0              90             0              85
  20  Bread           1.846          0.995          0.292          0              0              0              67
  21  Bread           -1.928         1.035          0.524          0              90             0              85
  22  Mug             0.618          0.945          0.469          0              180            0              76
  23  Bread           1.299          0.978          -1.532         0              0              0              52
  24  Knife           1.724          0.937          0.623          0              180            0              67
  25  Fork            -1.928         0.952          0.255          0              90             0              85
  26  Bowl            -1.027         1.014          -1.737         0              0              0              74
  27  Kettle          -0.055         0.9            0.643          0              0              0              51
  28  Cup             0.517          0.107          -1.509         0              180            0              49
  29  Tomato          -2.047         1.541          -1.763         0              0              0              82
  30  SoapBottle      0.649          0.918          -1.516         0              270            0              50
  31  Plate           0.271          0.109          -1.509         0              180            0              49
  32  Pot             1.007          0.962          0.561          0              270            0              54
  33  Spatula         -2.203         0.967          0.345          0              90             0              85
  34  PaperTowelRoll  -2.477         1.056          0.435          0              90             0              85
  35  Egg             0.701          0.954          -1.848         0              270            0              50
  36  Lettuce         0.851          1.001          -1.537         0              231.490        0              50
  37  SaltShaker      0.172          0.102          0.204          0              0              0              62
  38  PepperShaker    -2.340         0.948          0.345          0              90             0              85
  39  Apple           0.306          0.843          -1.552         0              270            0              75
  40  ButterKnife     1.711          0.9            0.273          0              318.152        0              67
  41  Potato          0.447          0.806          -1.745         0              270            0              75
  42  Pan             1.754          1.328          -1.809         0              90             0              68
  43  DishSponge      -2.614         0.951          0.255          0              90             0              85
  44  Spoon           0.655          0.775          0.272          0              90             0              48
  45  Mug             -2.397         0.506          -1.849         0              90             0              82
  46  Cabinet         -0.193         1.688          -1.648         0              180            0
  47  StoveBurner     1.360          0.957          0.293          0              180            0
  48  Drawer          0.499          0.792          0.296          0              0              0
  49  Cabinet         0.095          0.400          -1.352         0              180            0
  50  Sink            0.711          0.817          -1.772         0              270            0
  51  CounterTop      0.280          0.947          0.458          0              0              0
  52  CounterTop      -0.680         0.947          -1.654         0              0              0
  53  Drawer          1.825          0.792          0.296          0              0              0
  54  StoveBurner     1.007          0.957          0.561          0              270            0
  55  Drawer          -0.150         0.792          -1.496         0              0              0
  56  Drawer          -0.586         0.792          -1.496         0              0              0
  57  StoveBurner     1.360          0.957          0.561          0              270            0
  58  Drawer          0.024          0.792          0.296          0              0              0
  59  Cabinet         1.079          0.400          -1.349         0              180            0
  60  Cabinet         1.669          0.402          0.151          0              0              0
  61  Cabinet         0.055          0.402          -1.351         0              0              0
  62  Cabinet         -0.180         0.402          0.151          0              0              0
  63  Cabinet         0.729          0.402          0.151          0              0              0
  64  StoveBurner     1.007          0.957          0.293          0              180            0
  65  Drawer          -1.100         0.792          -1.496         0              0              0
  66  Cabinet         -0.396         0.402          -1.351         0              0              0
  67  CounterTop      1.776          0.947          0.458          0              0              0
  68  Cabinet         1.974          1.688          -1.648         0              180            0
  69  Cabinet         -0.820         0.400          -1.349         0              180            0
  70  Toaster         0.305          0.900          0.552          0              180            0
  71  LightSwitch     -2.756         1.307          -0.987         0              90             0
  72  Window          0.582          1.613          -1.967         90             0              0
  73  Window          1.969          1.5            -0.615         90             270            0
  74  Microwave       -1.037         0.900          -1.723         0              0              0
  75  SinkBasin       0.377          0.765          -1.655         0              270            0
  76  CoffeeMachine   0.618          0.900          0.600          0              180            0
  77  StoveKnob       1.246          0.913          0.118          45             180            0
  78  StoveKnob       1.373          0.913          0.118          45             180            0
  79  StoveKnob       0.995          0.913          0.118          45             180            0
  80  StoveKnob       1.126          0.913          0.118          45             180            0
  81  GarbageCan      -0.368         -0.029         0.539          0              90             0
  82  Fridge          -2.134         0.0            -1.690         0              0              0
  83  Faucet          0.549          1.046          -1.833         0              232.527        0
  84  Stool           -1.475         0.000          0.414          1.233          280.375        0
  85  DiningTable     -2.255         -0.004         0.432          0              0              0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: turn to the right and go to the front of the oven and turn to the right and go to the counter top | STEP 2: pick up the loaf of bread from the counter top | STEP 3: turn to the right and go to the wall and turn to the left facing the refrigerator | STEP 4: open the refrigerator door and put the loaf of bread on the middle shelf and close the door and open the door and take the loaf of bread and close the door | STEP 5: turn to the left and go forward to the front of the sink and turn to the left and go to the counter top | STEP 6: put the loaf of bread on the counter top | END