Task: place a kettle on the shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.900          -0.5           0              90             0
   1  Statue          0.079          1.110          -0.001         0              90             0              53
   2  Vase            0.355          1.109          -0.253         0              0              0              53
   3  Plate           0.563          0.137          -2.337         0              0              0              70
   4  Cup             0.453          0.908          -2.637         0              0              0              55
   5  Cup             -1.401         1.656          -2.641         0              0              0              69
   6  Tomato          -1.962         0.087          2.076          0              270            0              84
   7  SoapBottle      0.560          1.660          -2.632         0              0              0              77
   8  Bread           -0.059         1.184          -0.759         0              0              0              53
   9  Bread           -2.078         0.870          1.085          0              90             0              86
  10  Spoon           -1.438         0.912          -2.483         0              0              0              78
  11  Mug             -1.693         0.906          -2.036         0              90             0              78
  12  ButterKnife     -0.335         1.111          0.504          0              0              0              53
  13  Glassbottle     -2.018         0.770          -1.587         0              90             0              88
  14  DishSponge      -1.774         0.910          -2.256         0              0              0              78
  15  DishSponge      -1.694         0.478          -0.148         0              90             0              68
  16  Bowl            1.789          0.877          -2.563         0              180            0              80
  17  Bowl            -1.797         0.766          -1.414         0              90             0              88
  18  Book            0.155          1.1            0.617          0              315            0              53
  19  Glassbottle     -1.797         0.770          -1.673         0              90             0              88
  20  Knife           -1.597         0.936          -1.122         0              90             0              78
  21  Bread           -0.473         1.184          -0.506         0              0              0              53
  22  Fork            1.006          0.776          -2.334         0              180            0              49
  23  Potato          -2.121         0.570          1.251          0              90             0              86
  24  SoapBottle      -0.059         1.112          0.251          0              0              0              53
  25  Kettle          -0.036         0.950          -2.372         0              270            0              48
  26  Pan             -0.465         0.950          -2.372         0              90             0              51
  27  Plate           -1.765         0.126          0.248          0              90             0              59
  28  Tomato          0.453          0.949          -2.253         0              0              0              55
  29  Vase            0.396          1.662          -2.632         0              0              0              77
  30  Egg             -1.937         1.341          1.343          0              90             0              86
  31  CreditCard      0.840          0.907          -2.714         0              0              0              55
  32  Statue          1.582          0.551          -2.511         0              180            0              83
  33  WineBottle      0.393          0.141          -2.436         0              0              0              70
  34  Pot             -2.081         1.507          1.260          0              90             0              86
  35  Spatula         1.098          0.925          -2.407         0              0              0              55
  36  PaperTowelRoll  -1.880         0.152          2.172          0              270            0              84
  37  Cup             -0.070         1.788          -2.610         0              0              0              79
  38  Vase            -0.995         0.909          -2.406         0              0              0              78
  39  Bowl            -0.335         1.108          0.251          0              0              0              53
  40  SaltShaker      2.096          0.877          -2.617         0              180            0              80
  41  PepperShaker    -0.955         1.652          -2.532         0              0              0              67
  42  Lettuce         -0.197         1.191          -0.001         0              0              0              53
  43  ButterKnife     0.217          1.111          -0.506         0              0              0              53
  44  Apple           -1.774         0.961          -0.698         0              0              0              78
  45  DishSponge      1.064          0.141          -2.431         0              0              0              73
  46  Spoon           -0.335         1.112          0.757          0              0              0              53
  47  Mug             0.582          0.905          -2.560         0              0              0              55
  48  StoveBurner     -0.036         0.915          -2.372         0              0              0
  49  Drawer          0.949          0.832          -2.197         0              0              0
  50  Drawer          -1.560         0.839          0.204          0              90             0
  51  StoveBurner     -0.465         0.915          -2.371         0              180            0
  52  Drawer          -1.560         0.839          -0.197         0              90             0
  53  CounterTop      -0.079         1.147          -0.001         0              0              0
  54  Cabinet         -1.549         0.494          -1.964         0              90             0
  55  CounterTop      0.693          0.946          -2.483         0              0              0
  56  StoveBurner     -0.036         0.915          -2.576         0              0              0
  57  Drawer          0.949          0.393          -2.200         0              0              0
  58  Drawer          0.949          0.708          -2.200         0              0              0
  59  Cabinet         -1.549         0.494          0.379          0              90             0
  60  StoveKnob       -0.022         0.881          -2.187         45             0              0
  61  Drawer          0.949          0.560          -2.201         0              0              0
  62  StoveBurner     -0.465         0.915          -2.575         0              180            0
  63  Window          -2.230         1.429          -1.203         0              0              0
  64  StoveKnob       -0.483         0.881          -2.187         45             0              0
  65  Sink            -1.899         0.964          -1.5           0              90             0
  66  StoveKnob       -0.328         0.881          -2.187         45             0              0
  67  Cabinet         -0.727         2.015          -2.460         0              0              0
  68  Drawer          -1.560         0.655          -0.196         0              90             0
  69  Cabinet         -1.685         2.015          -2.461         0              0              0
  70  Cabinet         0.680          0.494          -2.200         0              0              0
  71  Cabinet         -1.179         0.494          -2.200         0              0              0
  72  Cabinet         -1.849         2.015          0.379          0              90             0
  73  Drawer          0.949          0.221          -2.200         0              0              0
  74  StoveKnob       -0.183         0.881          -2.187         45             0              0
  75  Cabinet         0.719          2.015          -2.460         0              0              0
  76  Drawer          -1.560         0.331          -0.196         0              90             0
  77  Cabinet         0.680          2.015          -2.460         0              0              0
  78  CounterTop      -1.868         0.946          -1.205         0              0              0
  79  Microwave       -0.236         1.689          -2.525         0              0              0
  80  Shelf           1.751          0.880          -2.560         0              0              0
  81  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  82  Toaster         -1.835         0.900          0.134          0              90             0
  83  Shelf           1.750          0.552          -2.559         0              0              0
  84  GarbageCan      -1.935         -0.002         2.029          0              270            0
  85  Shelf           1.750          0.172          -2.559         0              0              0
  86  Fridge          -2.096         0.0            1.088          0              0              0
  87  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  88  SinkBasin       -1.908         0.759          -1.488         0              90             0
  89  LightSwitch     2.329          1.309          -0.159         0              270            0
  90  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  91  Stool           0.702          0.000          -0.514         1.202          65.108         0
  92  Stool           0.743          0.000          0.563          1.227          106.706        0
  93  Faucet          -2.070         1.132          -1.514         0              0              0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: turn around and move towards the gas cooker | STEP 2: pick up the kettle from the gas cooker | STEP 3: turn left and head towards the wall then towards the shelf on the right | STEP 4: place the kettle on the shelf | END