Task: put two wine bottles in cabinet

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           0.908          0.5            0              180            0
   1  SprayBottle     1.200          0.885          2.800          0              0              0              101
   2  Potato          -1.197         0.793          1.902          0              0              0              50
   3  DishSponge      -1.383         0.748          2.273          0              0              0              50
   4  ButterKnife     1.365          0.911          0.139          0              0              0              69
   5  ButterKnife     1.034          0.886          2.692          0              0              0              101
   6  WineBottle      -0.919         0.750          2.459          0              0              0              50
   7  WineBottle      -1.378         0.752          1.092          0              90             0              89
   8  Spoon           1.365          0.912          0.422          0              0              0              69
   9  Spoon           -1.184         0.777          -0.205         0              90             0              73
  10  Spatula         -1.197         0.764          2.459          0              90             0              50
  11  Spatula         -0.503         0.927          -0.589         0              90             0              75
  12  Pot             0.802          0.939          -0.473         0              0              0              77
  13  Egg             -0.020         0.792          -0.730         0              0              0              96
  14  Plate           -1.383         0.750          2.644          0              0              0              50
  15  Plate           0.209          0.117          -0.533         0              0              0              64
  16  Tomato          -1.162         0.391          0.988          0              90             0              89
  17  Tomato          -1.206         1.686          0.883          0              90             0              89
  18  SoapBottle      -0.919         0.750          3.015          0              0              0              50
  19  SoapBottle      1.207          0.912          0.706          0              0              0              69
  20  Bowl            1.131          0.115          -0.052         0              0              0              63
  21  Bread           -1.012         0.813          2.087          0              0              0              50
  22  Apple           -1.135         0.972          -0.732         0              0              0              75
  23  Apple           -1.290         0.809          2.830          0              0              0              50
  24  Bread           1.367          0.949          2.369          0              0              0              101
  25  Glassbottle     -0.293         0.117          -0.577         0              0              0              65
  26  Fork            1.444          0.912          0.706          0              0              0              69
  27  Kettle          -1.357         0.739          3.024          0              240.000        0              50
  28  Tomato          -1.320         1.470          1.092          0              90             0              89
  29  Plate           1.207          0.912          0.139          0              0              0              69
  30  CellPhone       0.951          0.884          2.800          0              0              0              101
  31  Lettuce         1.034          0.957          2.369          0              0              0              101
  32  Pot             0.502          0.939          -0.740         0              90             0              76
  33  SoapBottle      1.245          0.087          1.409          0              0              0              90
  34  WineBottle      1.200          0.887          2.153          0              0              0              101
  35  Spatula         -0.658         0.927          -0.669         0              0              0              75
  36  Bowl            -1.012         0.748          2.644          0              0              0              50
  37  Apple           -1.130         0.401          0.673          0              90             0              89
  38  Cup             -1.296         1.014          -0.109         0              90             0              95
  39  Knife           -1.012         0.771          3.015          0              0              0              50
  40  Egg             -1.427         1.049          -0.005         0              90             0              95
  41  SaltShaker      1.306          0.113          0.071          0              0              0              63
  42  PepperShaker    -1.105         0.745          2.830          0              0              0              50
  43  Potato          -1.206         1.333          0.883          0              90             0              89
  44  ButterKnife     1.128          0.911          -0.428         0              0              0              69
  45  DishSponge      1.128          0.911          0.422          0              0              0              69
  46  Pan             -1.332         0.9            -0.699         0              345.0          0              75
  47  Spoon           1.034          0.887          2.477          0              0              0              101
  48  SprayBottle     -1.383         0.749          2.087          0              0              0              50
  49  Mug             1.049          0.906          0.706          0              0              0              69
  50  DiningTable     -1.182         0.006          2.414          0              90             0
  51  Cabinet         1.184          2.059          0.375          0              0              0
  52  Cabinet         1.184          2.059          -0.635         0              0              0
  53  Cabinet         0.591          2.309          -0.645         0              0              0
  54  Cabinet         -0.574         2.059          -0.644         0              0              0
  55  Cabinet         -1.103         2.059          -0.644         0              0              0
  56  Cabinet         -1.185         2.059          -0.331         0              0              0
  57  Cabinet         -1.185         2.059          -0.281         0              0              0
  58  Cabinet         -1.185         2.059          0.375          0              0              0
  59  Cabinet         1.184          2.309          1.174          0              0              0
  60  Cabinet         1.184          2.309          0.424          0              0              0
  61  Cabinet         0.988          0.402          0.581          0              0              0
  62  Cabinet         0.988          0.402          0.531          0              0              0
  63  Cabinet         0.988          0.402          -0.178         0              0              0
  64  Cabinet         0.335          0.402          -0.348         0              0              0
  65  Cabinet         -0.374         0.402          -0.348         0              0              0
  66  Cabinet         0.988          0.402          1.231          0              0              0
  67  Cabinet         -1.185         2.309          1.374          0              0              0
  68  Cabinet         -1.185         2.309          0.424          0              0              0
  69  CounterTop      1.274          0.947          0.064          0              0              0
  70  Drawer          1.116          0.792          -0.015         0              0              0
  71  Drawer          -1.116         0.792          0.210          0              180            0
  72  Cabinet         -0.990         0.402          0.374          0              180            0
  73  Drawer          -1.116         0.792          -0.170         0              180            0
  74  Cabinet         -0.990         0.402          -0.335         0              180            0
  75  CounterTop      -1.001         0.947          -0.669         0              0              0
  76  StoveBurner     0.502          0.932          -0.740         0              90             0
  77  StoveBurner     0.801          0.932          -0.473         0              0              0
  78  StoveBurner     0.801          0.932          -0.740         0              90             0
  79  Drawer          1.116          0.792          1.081          0              0              0
  80  Sink            -0.013         0.912          -0.615         0              0              0
  81  Drawer          1.116          0.792          0.732          0              0              0
  82  StoveBurner     0.502          0.932          -0.469         0              0              0
  83  Drawer          1.116          0.792          0.367          0              0              0
  84  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  86  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  87  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  88  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  89  Fridge          -1.300         0.008          0.987          0              90             0
  90  GarbageCan      1.296          -0.024         1.465          0              0              0
  91  Window          -0.012         1.641          -0.972         90             0              0
  92  Window          1.598          1.646          2.489          90             270            0
  93  Toaster         1.356          0.900          1.044          0              270            0
  94  LightSwitch     0.118          1.353          3.799          0              180            0
  95  Microwave       -1.343         0.900          0.053          0              90             0
  96  SinkBasin       -0.029         0.748          -0.612         0              0              0
  97  Faucet          -0.026         0.927          -0.808         0              0              0
  98  Shelf           -1.182         0.127          2.414          0              90             0
  99  Stool           1.140          0.007          3.262          1.206          20.753         0
 100  Shelf           -1.182         0.435          2.414          0              90             0
 101  DiningTable     1.169          0.014          2.569          0              0              1.896
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: walk to face fridge | STEP 2: remove wine bottle from fridge | STEP 3: turn to face cabinets under toaster | STEP 4: put bottle in cabinet under toaster | STEP 5: walk to face white table | STEP 6: pick up wine bottle from table | STEP 7: walk to face cabinets under toaster | STEP 8: put bottle in cabinet under toaster | END