Task: Place chilled loaf of bread on dining table in front of green sponge to the left

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          -1.5           0              0              0
   1  Pan             -0.968         1.441          -0.627         0              180            0              96
   2  Potato          1.777          1.068          1.555          0              136.999        0              52
   3  Ladle           1.230          1.066          -1.560         0              90             0              52
   4  Ladle           2.111          0.803          4.410          0              329.999        0              53
   5  DishSponge      2.698          0.764          3.688          0              329.999        0              53
   6  ButterKnife     1.609          0.801          1.637          0              317.0          0              67
   7  WineBottle      -0.794         1.028          0.323          0              0              0              55
   8  Glassbottle     -0.851         0.817          1.181          0              90             0              109
   9  Spatula         2.302          0.779          3.97           0              180            0              53
  10  Spatula         2.334          1.041          0.958          0              136.999        0              52
  11  Spoon           1.170          1.028          -1.987         0              90             0              52
  12  Fork            2.275          0.765          4.118          0              270            0              53
  13  Egg             -0.577         0.860          1.570          0              90             0              109
  14  Cup             2.673          0.763          4.495          0              0              0              53
  15  Knife           2.599          0.789          3.445          0              0              0              53
  16  Knife           1.867          0.827          1.353          0              227.0          0              66
  17  SoapBottle      2.737          0.031          -1.074         0              0              0              94
  18  Bowl            -0.968         1.440          -0.184         0              90             0              96
  19  SaltShaker      2.540          0.797          -0.129         0              0              0              62
  20  Lettuce         -0.645         0.874          1.181          0              90             0              109
  21  Mug             -0.920         1.022          2.556          0              0              0              55
  22  Apple           -0.577         0.866          1.414          0              90             0              109
  23  Apple           2.599          0.814          4.145          0              0              0              53
  24  Pan             1.950          1.026          1.158          0              317.0          0              52
  25  Glassbottle     -0.947         0.786          -0.295         0              90             0              96
  26  Knife           2.478          0.789          3.773          0              329.999        0              53
  27  SoapBottle      2.875          1.025          -1.762         0              0              0              52
  28  Egg             -1.079         0.121          2.874          0              0              0              107
  29  Fork            -0.714         0.817          1.492          0              90             0              109
  30  Potato          -0.906         0.828          -0.738         0              90             0              96
  31  Ladle           2.626          0.803          4.044          0              90             0              53
  32  Tomato          2.525          0.818          4.32           0              0              0              53
  33  Pot             2.177          1.027          -1.599         0              0              0              51
  34  WineBottle      2.376          0.765          4.32           0              0              0              53
  35  Plate           2.959          1.027          -1.456         0              0              0              52
  36  Spatula         -0.661         0.817          0.454          0              0              0              54
  37  PaperTowelRoll  1.409          1.131          -1.667         0              90             0              52
  38  Lettuce         -0.418         1.085          2.434          0              0              0              55
  39  Apple           2.138          0.814          3.762          0              225            0              53
  40  SaltShaker      2.537          0.796          -0.838         0              0              0              61
  41  PepperShaker    -0.794         1.023          2.066          0              0              0              55
  42  ButterKnife     2.475          0.764          4.204          0              225            0              53
  43  Bread           1.925          0.832          4.118          0              270            0              53
  44  Cup             1.925          0.763          3.895          0              270            0              53
  45  DishSponge      2.302          0.764          3.62           0              0              0              53
  46  Bowl            -0.945         1.780          1.363          0              0              0              86
  47  Spoon           -0.645         0.817          1.103          0              180            0              109
  48  Mug             -0.851         0.811          1.337          0              90             0              109
  49  Sink            -0.716         1.023          1.333          0              0              0
  50  StoveBurner     1.835          1.018          -1.840         0              90             0
  51  StoveBurner     2.177          1.018          -1.599         0              0              0
  52  CounterTop      2.812          0.992          0.675          0              0              0
  53  DiningTable     2.419          0.003          3.930          0              0              0
  54  Drawer          -0.643         0.828          0.616          0              0              0
  55  CounterTop      -0.813         1.062          2.188          0              0              0
  56  StoveBurner     2.115          1.018          -1.840         0              270            0
  57  Drawer          -0.643         0.831          1.953          0              0              0
  58  Drawer          -0.643         0.833          2.418          0              0              0
  59  Drawer          1.347          0.836          -1.539         0              0              0
  60  Drawer          2.693          0.833          -1.131         0              0              0
  61  Drawer          2.693          0.833          -0.699         0              0              0
  62  Drawer          2.693          0.833          -0.267         0              0              0
  63  Drawer          2.693          0.833          0.163          0              0              0
  64  Drawer          2.524          0.833          0.720          0              2.000          0
  65  Drawer          2.232          0.833          1.036          0              2.000          0
  66  Drawer          1.936          0.833          1.354          0              2.000          0
  67  Drawer          1.646          0.833          1.670          0              2.000          0
  68  Cabinet         1.504          2.475          -1.710         0              0              0
  69  Cabinet         -0.823         2.220          1.621          0              0              0
  70  Cabinet         -0.823         2.220          0.615          0              0              0
  71  Cabinet         1.136          0.388          -1.355         0              0              0
  72  Cabinet         -0.356         0.383          2.626          0              0              0
  73  Cabinet         2.745          2.220          -1.690         0              0              0
  74  Cabinet         1.882          0.383          1.017          0              0              0
  75  Cabinet         1.307          0.473          1.640          0              0              0
  76  Cabinet         1.892          0.383          1.006          0              0              0
  77  Cabinet         2.467          0.383          0.383          0              0              0
  78  Cabinet         2.466          0.383          -0.475         0              0              0
  79  Cabinet         2.466          0.473          0.371          0              0              0
  80  Cabinet         2.386          2.475          -1.710         0              0              0
  81  Cabinet         -0.356         0.383          1.712          0              0              0
  82  Cabinet         2.745          2.220          0.019          0              0              0
  83  Cabinet         -0.663         2.496          0.157          0              0              0
  84  Cabinet         -0.663         2.496          -0.868         0              0              0
  85  Cabinet         -0.356         0.383          0.269          0              0              0
  86  Cabinet         -0.823         2.220          1.603          0              0              0
  87  Cabinet         -0.662         2.234          0.586          0              0              0
  88  Cabinet         2.745          2.220          -0.843         0              0              0
  89  Cabinet         2.745          2.220          -0.827         0              0              0
  90  Cabinet         -0.823         2.220          2.608          0              0              0
  91  Cabinet         2.732          2.226          -1.709         0              0              0
  92  Cabinet         1.137          2.226          -1.709         0              0              0
  93  Cabinet         2.466          0.383          -0.491         0              0              0
  94  Cabinet         2.466          0.383          -1.339         0              0              0
  95  StoveBurner     1.761          1.018          -1.599         0              0              0
  96  Fridge          -0.908         0.0            -0.405         0              0              0
  97  HousePlant      2.517          1.016          1.822          0              0              0
  98  Microwave       1.939          1.745          -1.826         0              0              0
  99  StoveKnob       2.017          1.041          -1.514         0              180            180
 100  StoveKnob       1.934          1.041          -1.514         0              180            180
 101  StoveKnob       2.017          1.041          -1.589         0              180            180
 102  StoveKnob       1.934          1.041          -1.589         0              180            180
 103  Window          1.756          1.608          4.762          90             0              0
 104  HousePlant      2.171          1.004          2.091          0              0              0
 105  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 106  LightSwitch     -0.099         1.410          -2.066         0              0              0
 107  GarbageCan      -0.951         -0.029         2.826          0              0              0
 108  Toaster         -1.007         1.018          2.238          0              90             0
 109  SinkBasin       -0.714         0.805          1.348          0              90             0
 110  Chair           1.615          0.004          4.310          0              107.976        0
 111  Faucet          -1.120         1.013          1.334          0              90             0
 112  Chair           2.759          0.004          3.086          0              358.967        0
 113
 114  NorthWall
 115  EastWall
 116  SouthWall
 117  WestWall

Plan:
STEP 1: go forward to the white dining table to the right | STEP 2: pick up loaf of break from dining table | STEP 3: turn right, go forward to refrigerator to the right | STEP 4: open refrigerator, place bread on top shelf in between the two objects, close refrigerator door, open refrigerator door, pick up bread from top shelf, close refrigerator | STEP 5: turn right, go forward to white dining table to the right | STEP 6: place loaf of bread on dining table in front of green sponge on the left | END