Task: Put a chilled plastic tub in the kitchen 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           0.900          2.75           0              180            0
   1  CellPhone       0.321          0.923          -0.190         0              0              0              76
   2  CellPhone       1.712          0.223          1.088          0              0              0              77
   3  Ladle           -0.193         0.159          -1.472         0              0              0              47
   4  Kettle          1.975          0.938          0.601          0              180            0              63
   5  DishSponge      -0.867         1.679          -1.614         0              0              0              70
   6  DishSponge      1.712          0.140          1.153          0              0              0              77
   7  ButterKnife     1.769          0.762          1.292          0              90             0              74
   8  Fork            1.764          0.470          -0.020         0              0              0              53
   9  Spatula         0.256          0.775          -1.490         0              90             0              92
  10  Pot             1.195          0.113          -1.479         0              0              0              61
  11  Egg             -1.902         0.968          -1.013         0              0              0              68
  12  Knife           1.714          0.604          -0.019         0              270            0              53
  13  Knife           0.214          0.947          1.202          0              0              0              76
  14  SoapBottle      0.305          0.116          -1.408         0              0              0              57
  15  Tomato          -1.668         0.966          -1.415         0              0              0              68
  16  Bowl            -0.002         0.758          -1.380         0              0              0              92
  17  Bowl            -0.320         0.924          0.970          0              0              0              76
  18  SaltShaker      1.610          0.691          -0.210         0              0              0              52
  19  Bread           0.214          1.006          0.506          0              0              0              76
  20  Bread           1.900          0.992          1.333          0              0              0              68
  21  Lettuce         0.170          0.837          -1.490         0              0              0              92
  22  Lettuce         -0.320         1.002          0.273          0              0              0              76
  23  SoapBottle      2.001          1.662          -1.204         0              270            0              56
  24  Cup             -1.855         1.674          -0.175         0              90             0              91
  25  Pot             -0.106         0.929          0.273          0              0              0              76
  26  Fork            1.866          0.350          0.116          0              270            0              64
  27  Ladle           1.713          0.391          0.667          0              0              0              62
  28  Kettle          0.107          0.926          -0.190         0              0              0              76
  29  Egg             1.924          1.063          -0.547         0              270            0              89
  30  Plate           0.661          0.910          -1.415         0              0              0              68
  31  Pan             -1.286         0.9            -1.348         0              79.769         0              68
  32  Lettuce         0.321          1.002          0.273          0              0              0              76
  33  Spatula         -1.727         0.926          -0.914         0              0              0              68
  34  Apple           -1.855         1.522          0.107          0              90             0              91
  35  Knife           0.107          0.947          0.970          0              0              0              76
  36  SaltShaker      -0.213         0.921          0.041          0              0              0              76
  37  PepperShaker    0.107          0.921          0.738          0              0              0              76
  38  CellPhone       1.764          0.114          -0.020         0              0              0              51
  39  ButterKnife     0.214          0.925          0.041          0              0              0              76
  40  Bread           -0.844         0.992          -1.415         0              0              0              68
  41  Tomato          -0.106         0.980          -0.190         0              0              0              76
  42  Potato          -1.648         0.863          -0.175         0              90             0              91
  43  DishSponge      -1.796         0.041          1.329          0              270            0              82
  44  Spoon           0.000          0.926          -0.190         0              0              0              76
  45  Mug             1.355          0.955          -1.362         0              0              0              90
  46  Bowl            -0.320         0.924          0.506          0              0              0              76
  47  Cabinet         -0.495         0.474          -1.149         0              0              0
  48  Window          -0.010         1.582          -1.821         0              0              0
  49  Drawer          0.805          0.475          -1.159         0              0              0
  50  StoveBurner     1.764          0.902          0.601          0              270            0
  51  Drawer          1.5            0.196          -0.019         0              0              0
  52  Drawer          1.5            0.629          -0.018         0              0              0
  53  Drawer          1.5            0.602          -0.019         0              270            0
  54  StoveBurner     1.975          0.902          0.384          0              270            0
  55  Cabinet         -1.703         2.022          -1.453         0              90             0
  56  Cabinet         1.789          2.019          -0.819         0              270            0
  57  Cabinet         0.494          0.474          -1.149         0              0              0
  58  Cabinet         0.409          0.475          0.444          0              0              0
  59  Drawer          -0.696         0.475          -1.159         0              0              0
  60  Drawer          1.5            0.140          0.599          0              270            0
  61  Cabinet         1.389          0.474          -1.149         0              0              0
  62  Drawer          1.5            0.305          0.600          0              0              0
  63  StoveBurner     1.975          0.902          0.601          0              270            0
  64  Drawer          1.5            0.429          -0.019         0              0              0
  65  StoveBurner     1.764          0.902          0.819          0              270            0
  66  Drawer          1.5            0.519          1.220          0              0              0
  67  Cabinet         1.705          2.019          -1.449         0              0              0
  68  CounterTop      0.002          0.947          -1.513         0              0              0
  69  Drawer          1.5            0.629          0.605          0              0              0
  70  Cabinet         -0.627         2.019          -1.449         0              0              0
  71  StoveBurner     1.764          0.902          0.384          0              270            0
  72  Drawer          1.5            0.538          0.600          0              0              0
  73  Sink            0.0            0.893          -1.434         0              0              0
  74  Drawer          1.5            0.782          1.220          0              270            0
  75  Window          2.217          1.565          -0.384         0              0              0
  76  CounterTop      -0.014         0.961          0.505          0              0              0
  77  Drawer          1.5            0.200          1.220          0              0              0
  78  StoveBurner     1.975          0.902          0.819          0              270            0
  79  Window          -3.240         1.616          2.693          0              270            0
  80  Cabinet         -1.389         0.474          -1.149         0              0              0
  81  LightSwitch     -0.153         1.291          3.700          0              180            0
  82  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  83  StoveKnob       1.602          0.917          0.570          0              270            180
  84  StoveKnob       1.602          0.917          0.625          0              270            180
  85  StoveKnob       1.602          0.917          0.739          0              270            180
  86  StoveKnob       1.602          0.917          0.680          0              270            180
  87  StoveKnob       1.602          0.917          0.462          0              270            180
  88  StoveKnob       1.602          0.917          0.517          0              270            180
  89  Microwave       1.932          0.899          -0.766         0              270            0
  90  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  91  Fridge          -1.764         0.0            0.014          0              90             0
  92  SinkBasin       -0.014         0.736          -1.435         0              0              0
  93  Toaster         1.977          0.900          -0.336         0              270            0
  94  Faucet          -0.020         1.137          -1.605         0              270            0
  95  Chair           -9.354         0.000          1.242          0              180            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn slightly right, then left and walk to the island, then turn left to face the island. | STEP 2: Pick up the tub off of the counter | STEP 3: Turn around and face the fridge | STEP 4: Open the fridge, put the tub in there and then close the door. Wait a few seconds and then retrieve the tub and close the door again. | STEP 5: Turn to your left | STEP 6: Open the kitchen cabinet and place the tub in it, before closing the door | END