Task: put two kettles into a cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           1.124          -1.25          0              90             0
   1  Potato          1.246          1.350          0.810          0              270            0              76
   2  Kettle          -1.401         1.324          1.419          0              0              0              51
   3  Kettle          -0.630         1.331          -3.301         0              180            0              48
   4  Kettle          1.155          1.324          -0.942         0              0              0              51
   5  Fork            0.277          1.323          -2.900         0              90             0              51
   6  Spoon           0.506          1.324          -1.312         0              0              0              51
   7  Spoon           -1.308         1.324          -3.203         0              0              0              51
   8  Spatula         -1.737         1.345          -0.980         0              0              0              58
   9  Spatula         -1.237         1.337          -2.760         0              0              0              51
  10  Egg             1.246          1.351          0.913          0              270            0              76
  11  Cup             -1.665         0.341          -2.162         0              0              0              47
  12  Cup             -1.522         1.320          -2.760         0              0              0              51
  13  Plate           1.025          1.323          -2.053         0              0              0              51
  14  Plate           0.824          0.345          -2.164         0              180            0              50
  15  Knife           -1.790         1.352          2.069          0              0              0              51
  16  Tomato          -1.401         1.356          1.744          0              0              0              51
  17  Bowl            -1.727         0.342          -1.763         0              0              0              47
  18  SaltShaker      1.193          1.202          1.238          0              0              0              76
  19  Lettuce         0.506          1.399          -3.164         0              0              0              51
  20  Lettuce         0.636          1.399          -2.794         0              0              0              51
  21  Mug             -1.698         1.046          -0.587         0              0              0              69
  22  Apple           -1.610         0.329          2.110          0              270            0              66
  23  Bread           -1.513         1.380          0.662          0              0              0              51
  24  Pot             -0.125         1.332          -2.973         0              0              0              59
  25  Knife           -1.660         1.352          0.445          0              0              0              51
  26  Bowl            -1.915         1.333          -1.049         0              0              0              58
  27  Potato          -2.049         1.362          1.744          0              0              0              51
  28  SoapBottle      -1.851         0.344          -2.362         0              0              0              47
  29  Fork            -1.920         1.323          -3.241         0              0              0              51
  30  Cup             -1.401         1.320          1.094          0              0              0              51
  31  Kettle          -0.239         1.331          -3.301         0              180            0              46
  32  Egg             -1.915         1.376          -1.186         0              0              0              58
  33  Pan             -1.749         0.343          0.613          0              0              0              49
  34  SaltShaker      0.206          1.318          -2.900         0              0              0              51
  35  WineBottle      -1.530         1.323          2.069          0              0              0              51
  36  Lettuce         -2.049         1.399          0.770          0              0              0              51
  37  Spatula         0.634          1.337          -3.232         0              90             0              51
  38  PaperTowelRoll  1.027          1.312          1.254          0              0              0              76
  39  Tomato          0.506          1.356          -2.424         0              0              0              51
  40  Plate           -1.818         0.344          1.317          0              0              0              52
  41  PepperShaker    1.276          1.202          1.222          0              0              0              76
  42  DishSponge      0.766          1.322          -2.424         0              0              0              51
  43  Spoon           -2.004         1.337          -1.255         0              0              0              58
  44  Apple           -1.530         1.371          1.094          0              0              0              51
  45  Mug             0.965          1.371          -1.534         0              270            0              72
  46  StoveBurner     -0.239         1.325          -3.301         0              180            0
  47  Cabinet         -1.461         0.775          -2.002         0              0              0
  48  StoveBurner     -0.630         1.325          -3.301         0              180            0
  49  Cabinet         -1.461         0.775          0.470          0              0              0
  50  Cabinet         0.578          0.776          -2.054         0              0              0
  51  CounterTop      -1.809         1.358          1.182          0              0              0
  52  Cabinet         -1.461         0.775          1.310          0              0              0
  53  Faucet          -2.063         1.362          -0.726         0              39.391         0
  54  StoveBurner     -0.749         1.325          -2.973         0              0              0
  55  Drawer          -1.610         0.681          -0.430         0              0              0
  56  Window          -2.566         1.799          -0.822         270            0              0
  57  Drawer          -1.610         0.681          -1.217         0              0              0
  58  Sink            -1.990         1.143          -0.975         0              0              0
  59  StoveBurner     -0.125         1.325          -2.973         0              0              0
  60  StoveKnob       -0.185         1.338          -2.741         0              270            180
  61  StoveKnob       -0.336         1.338          -2.741         0              270            180
  62  StoveKnob       -0.569         1.338          -2.741         0              270            180
  63  StoveKnob       -0.707         1.338          -2.741         0              270            180
  64  Fridge          1.013          0.227          1.917          0              270            0
  65  Microwave       0.994          1.310          -2.163         0              270            0
  66  GarbageCan      -1.633         0.212          2.192          0              270            0
  67  LightSwitch     1.386          1.565          -0.657         0              270            0
  68  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  69  SinkBasin       -1.835         1.039          -0.542         0              0              0
  70  ButterKnife     0.873          0.468          0.651          0              0              0
  71  Toaster         -1.885         1.310          -2.512         0              90             0
  72  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  73  Drawer          0.647          1.061          0.680          0              270            0
  74  Drawer          0.648          1.061          1.020          0              270            0
  75  Drawer          0.648          0.843          1.020          0              270            0
  76  SideTable       0.975          0.220          0.869          0              270            0
  77  Drawer          0.648          0.602          0.680          0              270            0
  78  Drawer          0.648          0.596          1.020          0              270            0
  79  Drawer          0.648          0.843          0.680          0              270            0
  80  Stool           0.606          0.222          -1.084         1.233          280.489        0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: walk to face the stove top | STEP 2: pick up the left hand kettle from the stove top | STEP 3: turn to the left to face the cabinet below the counter with a red apple | STEP 4: open the cabinet door, put the kettle inside, close the door | STEP 5: to right to walk to face the stove top | STEP 6: pick up the kettle from the stove top | STEP 7: turn to the left to face the cabinet below the counter with a red apple | STEP 8: open the cabinet door, put the kettle inside behind the other kettle, close the door | END