Task: the robot sets the table by placing two kettles on it

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          3.75           0              0              0
   1  Potato          1.314          1.027          3.044          0              0              0              60
   2  DishSponge      1.348          0.771          3.154          0              0              0              53
   3  DishSponge      -0.467         0.759          6.541          0              270            0              96
   4  ButterKnife     -0.312         0.760          6.354          0              0              0              96
   5  Kettle          0.958          1.580          0.295          0              0              0              67
   6  Kettle          0.380          1.580          0.207          0              0              0              67
   7  Spatula         -0.384         1.007          0.578          0              0              0              60
   8  Spatula         -0.003         0.775          6.666          0              180            0              96
   9  Fork            1.349          0.771          4.717          0              0              0              50
  10  Fork            -0.034         0.760          6.941          0              0              0              96
  11  Egg             1.135          1.042          4.670          0              0              0              61
  12  Egg             0.012          1.147          0.245          0              0              0              76
  13  Plate           0.046          1.580          0.251          0              0              0              73
  14  Plate           1.571          0.142          4.724          0              0              0              62
  15  Knife           0.735          0.802          0.563          0              270            0              52
  16  Knife           1.348          0.801          3.291          0              0              0              53
  17  Tomato          1.497          0.940          2.576          0              90             0              83
  18  Bowl            1.490          0.139          3.439          0              0              0              71
  19  PepperShaker    -0.291         0.755          6.612          0              225            0              96
  20  Lettuce         -0.611         1.081          0.395          0              0              0              60
  21  Mug             2.051          1.510          5.501          0              270            0              82
  22  Mug             1.225          0.987          3.231          0              0              0              60
  23  Apple           2.055          0.155          6.498          0              0              0              84
  24  Apple           -0.442         0.834          6.107          0              225            0              96
  25  Bowl            1.322          0.139          2.720          0              0              0              72
  26  Bread           0.150          0.829          6.541          0              270            0              96
  27  Egg             1.314          1.042          0.440          0              0              0              60
  28  Knife           0.014          0.789          6.217          0              225            0              96
  29  Fork            1.332          0.891          2.422          0              180            0              83
  30  Apple           2.009          1.590          5.626          0              270            0              82
  31  Kettle          1.562          0.988          3.848          0              0              0              54
  32  Plate           1.573          0.141          2.572          0              0              0              72
  33  SaltShaker      -0.621         0.755          6.541          0              270            0              96
  34  Lettuce         2.051          1.604          6.001          0              270            0              82
  35  SoapBottle      1.367          1.576          4.633          0              90             0              64
  36  Spatula         1.442          0.905          2.137          0              0              0              83
  37  PaperTowelRoll  1.225          1.096          0.895          0              0              0              60
  38  Pot             1.317          0.988          4.294          0              0              0              55
  39  Potato          1.332          0.931          2.525          0              90             0              83
  40  ButterKnife     -0.158         0.760          6.541          0              0              0              96
  41  PepperShaker    -0.137         0.755          6.677          0              315            0              96
  42  Pan             1.582          0.990          0.213          0              90             0              60
  43  Tomato          2.094          1.565          5.251          0              270            0              82
  44  DishSponge      -0.096         0.759          6.787          0              0              0              96
  45  Cup             2.137          1.511          5.751          0              270            0              82
  46  Spoon           -0.481         0.772          0.563          0              0              0              56
  47  Mug             -0.003         0.755          6.354          0              270            0              96
  48  Cabinet         1.307          2.455          4.360          0              0              0
  49  Cabinet         1.054          0.422          1.710          0              0              0
  50  Drawer          1.280          0.808          4.718          0              0              0
  51  Cabinet         1.307          2.455          3.607          0              0              0
  52  Drawer          0.736          0.802          0.521          0              0              0
  53  Drawer          1.276          0.802          3.291          0              0              0
  54  StoveBurner     1.562          0.982          3.848          0              0              0
  55  StoveBurner     1.317          0.982          4.294          0              0              0
  56  Drawer          -0.482         0.802          0.521          0              0              0
  57  Drawer          0.124          0.802          0.521          0              0              0
  58  StoveBurner     1.559          0.982          4.294          0              0              0
  59  StoveBurner     1.320          0.982          3.848          0              0              0
  60  CounterTop      1.391          1.028          0.897          0              0              0
  61  CounterTop      1.391          1.028          4.716          0              0              0
  62  Cabinet         1.054          0.422          4.548          0              0              0
  63  Cabinet         1.317          2.134          0.517          0              0              0
  64  Cabinet         1.317          2.134          4.889          0              0              0
  65  Cabinet         1.317          2.134          3.095          0              0              0
  66  Cabinet         0.443          0.422          0.743          0              0              0
  67  Cabinet         1.270          2.134          0.434          0              0              0
  68  Cabinet         -0.775         0.422          0.743          0              0              0
  69  Cabinet         -0.168         0.422          0.743          0              0              0
  70  Cabinet         1.317          2.134          1.534          0              0              0
  71  Cabinet         1.054          0.422          2.990          0              0              0
  72  Cabinet         1.054          0.422          2.944          0              0              0
  73  Cabinet         -0.263         2.134          0.434          0              0              0
  74  Cabinet         0.252          2.134          0.434          0              0              0
  75  Sink            1.391          1.006          2.326          0              0              0
  76  Microwave       0.108          0.981          0.262          0              0              0
  77  HousePlant      -0.165         0.826          6.444          0              0              0
  78  CoffeeMachine   1.551          0.982          0.953          0              270            0
  79  Toaster         1.473          0.981          4.715          0              270            0
  80  Window          -2.065         1.916          3.626          90             90             0
  81  Window          1.763          2.007          2.299          90             270            0
  82  Fridge          2.035          0.0            5.625          0              0              0
  83  SinkBasin       1.387          0.880          2.338          0              90             0
  84  GarbageCan      2.001          -0.044         6.503          0              0              0
  85  StoveKnob       1.140          0.934          3.987          45             270            0
  86  StoveKnob       1.140          0.934          4.309          45             270            0
  87  StoveKnob       1.140          0.934          4.140          45             270            0
  88  StoveKnob       1.140          0.934          3.824          45             270            0
  89  Vase            -0.226         0.834          6.993          0              0              0
  90  Vase            2.098          0.043          7.070          0              257.232        0
  91  Vase            -0.594         0.835          6.130          0              225            0
  92  LightSwitch     -2.0           1.549          6.045          0              90             0
  93  Safe            2.046          1.072          7.054          0              257.232        0
  94  Faucet          1.534          1.025          2.371          0              294.391        0
  95  Blinds          1.738          2.563          2.312          0              90             0
  96  DiningTable     -0.156         0.000          6.474          0              0              0
  97  Chair           0.291          0.002          6.142          0              310.162        0
  98  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: 
looks at the floor and turns right  | STEP 2: moves to the oven and picks up the kettle | STEP 3: turns left moves forward moves right and left and faces the table | STEP 4: places the kettle on the table close to the cup | STEP 5: turns left moves right and forward and left again and walks down to the end of the kitchen looks up at the cabinet on the wall | STEP 6: opens the top cupboard and takes another kettle out | STEP 7: steps back and turns left close to the cupboard, turns left and walks towards the table and looks around | STEP 8: and places the kettle next to the other on the table | END