Task: Put the chilled bread on the kitchen counter

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          -1.75          0              270            0
   1  Pan             2.116          1.027          -1.84          0              270            0              60
   2  Ladle           -0.731         0.839          1.953          0              0              0              61
   3  DishSponge      -0.418         1.027          0.323          0              0              0              59
   4  DishSponge      -0.714         0.816          1.181          0              90             0              113
   5  ButterKnife     2.662          0.764          3.455          0              329.999        0              57
   6  ButterKnife     2.788          1.026          1.102          0              136.999        0              56
   7  Glassbottle     -0.808         1.764          0.490          0              0              0              91
   8  Glassbottle     2.525          0.765          3.795          0              0              0              57
   9  Spoon           2.475          0.765          4.204          0              225            0              57
  10  Spoon           2.113          0.803          0.991          0              317.0          0              69
  11  Fork            2.013          0.802          1.489          0              317.0          0              70
  12  Egg             1.170          1.070          -1.667         0              90             0              56
  13  Cup             1.409          1.025          -1.881         0              90             0              56
  14  Cup             3.043          1.025          -1.762         0              0              0              56
  15  Plate           2.275          2.279          -1.871         0              0              0              84
  16  Plate           -0.539         0.046          1.895          0              0              0              85
  17  Tomato          2.228          0.818          4.495          0              0              0              57
  18  Tomato          -1.069         0.839          -0.627         0              90             0              100
  19  SaltShaker      -1.061         1.777          1.305          0              0              0              90
  20  PepperShaker    -0.891         0.042          1.779          0              0              0              61
  21  Bread           2.451          0.832          3.97           0              270            0              57
  22  Bread           1.925          0.832          3.895          0              270            0              57
  23  Bread           2.735          0.832          4.464          0              225            0              57
  24  Mug             2.945          0.759          4.254          0              225            0              57
  25  Mug             -0.945         1.759          0.305          0              0              0              74
  26  Apple           2.106          1.911          -1.876         0              0              0              102
  27  Apple           2.451          0.814          4.495          0              0              0              57
  28  Pan             1.836          1.027          -1.84          0              90             0              54
  29  Glassbottle     2.376          0.765          3.445          0              0              0              57
  30  Knife           -0.669         1.052          1.943          0              0              0              59
  31  SoapBottle      2.544          1.025          1.154          0              136.999        0              56
  32  Egg             2.000          1.895          -1.843         0              0              0              102
  33  Fork            2.203          0.765          4.251          0              329.999        0              57
  34  Potato          2.537          1.068          -1.151         0              0              0              56
  35  Ladle           2.875          1.066          -0.846         0              0              0              56
  36  Tomato          -0.877         1.495          -0.184         0              90             0              100
  37  Pot             1.987          1.029          1.750          0              136.999        0              56
  38  WineBottle      2.625          0.765          4.192          0              270            0              57
  39  Plate           2.976          0.764          3.821          0              270            0              57
  40  Spatula         -0.794         1.042          2.556          0              0              0              59
  41  PaperTowelRoll  2.276          0.868          3.821          0              270            0              57
  42  Lettuce         -0.645         0.874          1.492          0              90             0              113
  43  Apple           -1.038         0.127          2.811          0              0              0              111
  44  SaltShaker      -0.803         0.797          2.279          0              0              0              62
  45  PepperShaker    2.460          0.760          4.399          0              329.999        0              57
  46  ButterKnife     1.707          0.800          1.728          0              317.0          0              71
  47  Bread           2.790          0.832          3.529          0              329.999        0              57
  48  Cup             -1.013         1.440          -0.184         0              90             0              100
  49  DishSponge      2.706          0.802          -1.178         0              0              0              64
  50  Bowl            -0.851         0.814          1.492          0              90             0              113
  51  Spoon           2.761          0.801          -0.699         0              0              0              56
  52  Mug             1.895          1.856          -1.809         0              0              0              102
  53  Sink            -0.716         1.023          1.333          0              0              0
  54  StoveBurner     1.835          1.018          -1.840         0              90             0
  55  StoveBurner     2.177          1.018          -1.599         0              0              0
  56  CounterTop      2.812          0.992          0.675          0              0              0
  57  DiningTable     2.419          0.003          3.930          0              0              0
  58  Drawer          -0.643         0.828          0.616          0              0              0
  59  CounterTop      -0.813         1.062          2.188          0              0              0
  60  StoveBurner     2.115          1.018          -1.840         0              270            0
  61  Drawer          -0.643         0.831          1.953          0              0              0
  62  Drawer          -0.643         0.833          2.418          0              0              0
  63  Drawer          1.347          0.836          -1.539         0              0              0
  64  Drawer          2.693          0.833          -1.131         0              0              0
  65  Drawer          2.693          0.833          -0.699         0              0              0
  66  Drawer          2.693          0.833          -0.267         0              0              0
  67  Drawer          2.693          0.833          0.163          0              0              0
  68  Drawer          2.524          0.833          0.720          0              2.000          0
  69  Drawer          2.232          0.833          1.036          0              2.000          0
  70  Drawer          1.936          0.833          1.354          0              2.000          0
  71  Drawer          1.646          0.833          1.670          0              2.000          0
  72  Cabinet         1.504          2.475          -1.710         0              0              0
  73  Cabinet         -0.823         2.220          1.621          0              0              0
  74  Cabinet         -0.823         2.220          0.615          0              0              0
  75  Cabinet         1.136          0.388          -1.355         0              0              0
  76  Cabinet         -0.356         0.383          2.626          0              0              0
  77  Cabinet         2.745          2.220          -1.690         0              0              0
  78  Cabinet         1.882          0.383          1.017          0              0              0
  79  Cabinet         1.307          0.473          1.640          0              0              0
  80  Cabinet         1.892          0.383          1.006          0              0              0
  81  Cabinet         2.467          0.383          0.383          0              0              0
  82  Cabinet         2.466          0.383          -0.475         0              0              0
  83  Cabinet         2.466          0.473          0.371          0              0              0
  84  Cabinet         2.386          2.475          -1.710         0              0              0
  85  Cabinet         -0.356         0.383          1.712          0              0              0
  86  Cabinet         2.745          2.220          0.019          0              0              0
  87  Cabinet         -0.663         2.496          0.157          0              0              0
  88  Cabinet         -0.663         2.496          -0.868         0              0              0
  89  Cabinet         -0.356         0.383          0.269          0              0              0
  90  Cabinet         -0.823         2.220          1.603          0              0              0
  91  Cabinet         -0.662         2.234          0.586          0              0              0
  92  Cabinet         2.745          2.220          -0.843         0              0              0
  93  Cabinet         2.745          2.220          -0.827         0              0              0
  94  Cabinet         -0.823         2.220          2.608          0              0              0
  95  Cabinet         2.732          2.226          -1.709         0              0              0
  96  Cabinet         1.137          2.226          -1.709         0              0              0
  97  Cabinet         2.466          0.383          -0.491         0              0              0
  98  Cabinet         2.466          0.383          -1.339         0              0              0
  99  StoveBurner     1.761          1.018          -1.599         0              0              0
 100  Fridge          -0.908         0.0            -0.405         0              0              0
 101  HousePlant      2.517          1.016          1.822          0              0              0
 102  Microwave       1.939          1.745          -1.826         0              0              0
 103  StoveKnob       2.017          1.041          -1.514         0              180            180
 104  StoveKnob       1.934          1.041          -1.514         0              180            180
 105  StoveKnob       2.017          1.041          -1.589         0              180            180
 106  StoveKnob       1.934          1.041          -1.589         0              180            180
 107  Window          1.756          1.608          4.762          90             0              0
 108  HousePlant      2.171          1.004          2.091          0              0              0
 109  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 110  LightSwitch     -0.099         1.410          -2.066         0              0              0
 111  GarbageCan      -0.951         -0.029         2.826          0              0              0
 112  Toaster         -1.007         1.018          2.238          0              90             0
 113  SinkBasin       -0.714         0.805          1.348          0              90             0
 114  Chair           1.615          0.004          4.310          0              107.976        0
 115  Faucet          -1.120         1.013          1.334          0              90             0
 116  Chair           2.759          0.004          3.086          0              358.967        0
 117
 118  NorthWall
 119  EastWall
 120  SouthWall
 121  WestWall

Plan:
STEP 1: Turn around and go as far as the door then turn left and go almost to the wall then turn right and go to the table and turn left | STEP 2: Pick up the loaf of bread in the middle of the table | STEP 3: Turn left and go towards the garbage can then turn left and go towards the door then turn right and go to the fridge | STEP 4: Put the bread on the top shelf in the fridge and wait a bit, then take the bread out of the fridge | STEP 5: Turn right, then turn right again and go to the counter | STEP 6: Put the bread on the counter | END