Task: Put a vase in 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           0.25           0.908          2.75           0              180            0
   1  SprayBottle     0.146          0.911          -0.359         0              0              0              81
   2  Potato          -1.394         1.060          0.098          0              90             0              101
   3  DishSponge      -0.694         1.655          -0.817         0              0              0              60
   4  DishSponge      -1.433         0.911          -0.430         0              0              0              81
   5  ButterKnife     -1.012         0.749          2.087          0              0              0              56
   6  ButterKnife     -1.012         0.748          2.644          0              90             0              56
   7  Glassbottle     -1.225         0.342          0.673          0              90             0              95
   8  Glassbottle     -1.149         0.751          1.197          0              90             0              95
   9  WineBottle      -1.378         0.752          0.778          0              90             0              95
  10  Fork            -1.123         0.912          -0.669         0              0              0              81
  11  Fork            1.367          0.886          2.477          0              180            0              107
  12  Spatula         1.365          0.926          0.422          0              90             0              75
  13  Pot             0.802          0.939          -0.740         0              90             0              84
  14  Egg             -1.012         0.783          1.902          0              0              0              56
  15  Egg             -0.020         0.796          -0.651         0              0              0              102
  16  Cup             1.049          0.910          0.139          0              0              0              75
  17  Cup             -1.105         0.748          2.087          0              0              0              56
  18  Plate           1.444          0.912          0.139          0              0              0              75
  19  Plate           1.117          0.887          2.261          0              0              0              107
  20  Knife           -0.503         0.934          -0.589         0              90             0              81
  21  Tomato          1.189          0.135          1.409          0              0              0              96
  22  Tomato          1.357          0.135          1.440          0              0              0              96
  23  Lettuce         1.367          0.957          2.261          0              0              0              107
  24  SaltShaker      -1.357         1.652          -0.481         0              0              0              62
  25  SaltShaker      1.200          0.882          2.692          0              0              0              107
  26  Mug             -1.290         0.743          2.273          0              90             0              56
  27  Mug             1.262          1.650          -0.453         0              90             0              57
  28  Apple           -1.225         0.401          1.197          0              90             0              95
  29  Apple           -0.082         0.818          -0.533         0              0              0              102
  30  Bread           -1.320         1.484          0.883          0              90             0              95
  31  Glassbottle     -0.919         0.750          1.902          0              0              0              56
  32  Fork            -1.211         0.912          -0.392         0              180            0              81
  33  Kettle          -1.357         0.739          3.024          0              240.000        0              56
  34  Tomato          -1.105         0.798          2.273          0              0              0              56
  35  Plate           1.128          0.912          -0.144         0              0              0              75
  36  CellPhone       -1.383         0.746          2.830          0              0              0              56
  37  Lettuce         -1.383         0.819          2.644          0              0              0              56
  38  Pot             0.502          0.939          -0.740         0              90             0              82
  39  SoapBottle      1.049          0.912          -0.428         0              0              0              75
  40  WineBottle      -1.012         0.749          2.830          0              0              0              56
  41  Spatula         -1.012         0.763          2.644          0              0              0              56
  42  Bowl            -0.170         0.115          -0.490         0              0              0              71
  43  Apple           0.041          0.818          -0.573         0              0              0              102
  44  Cup             -0.144         0.757          -0.651         0              0              0              102
  45  Knife           -1.197         0.770          2.459          0              90             0              56
  46  Egg             1.286          0.945          -0.144         0              0              0              75
  47  SaltShaker      1.365          0.907          -0.428         0              0              0              75
  48  PepperShaker    1.034          0.882          2.584          0              0              0              107
  49  Potato          -1.320         0.796          1.092          0              90             0              95
  50  ButterKnife     -1.290         0.749          2.459          0              180            0              56
  51  DishSponge      -1.383         0.749          2.087          0              0              0              56
  52  Pan             -1.332         0.9            -0.699         0              345.0          0              81
  53  Spoon           -0.968         0.913          -0.828         0              0              0              81
  54  SprayBottle     1.128          0.910          0.139          0              0              0              75
  55  Mug             -1.427         1.010          -0.109         0              180            0              101
  56  DiningTable     -1.182         0.006          2.414          0              90             0
  57  Cabinet         1.184          2.059          0.375          0              0              0
  58  Cabinet         1.184          2.059          -0.635         0              0              0
  59  Cabinet         0.591          2.309          -0.645         0              0              0
  60  Cabinet         -0.574         2.059          -0.644         0              0              0
  61  Cabinet         -1.103         2.059          -0.644         0              0              0
  62  Cabinet         -1.185         2.059          -0.331         0              0              0
  63  Cabinet         -1.185         2.059          -0.281         0              0              0
  64  Cabinet         -1.185         2.059          0.375          0              0              0
  65  Cabinet         1.184          2.309          1.174          0              0              0
  66  Cabinet         1.184          2.309          0.424          0              0              0
  67  Cabinet         0.988          0.402          0.581          0              0              0
  68  Cabinet         0.988          0.402          0.531          0              0              0
  69  Cabinet         0.988          0.402          -0.178         0              0              0
  70  Cabinet         0.335          0.402          -0.348         0              0              0
  71  Cabinet         -0.374         0.402          -0.348         0              0              0
  72  Cabinet         0.988          0.402          1.231          0              0              0
  73  Cabinet         -1.185         2.309          1.374          0              0              0
  74  Cabinet         -1.185         2.309          0.424          0              0              0
  75  CounterTop      1.274          0.947          0.064          0              0              0
  76  Drawer          1.116          0.792          -0.015         0              0              0
  77  Drawer          -1.116         0.792          0.210          0              180            0
  78  Cabinet         -0.990         0.402          0.374          0              180            0
  79  Drawer          -1.116         0.792          -0.170         0              180            0
  80  Cabinet         -0.990         0.402          -0.335         0              180            0
  81  CounterTop      -1.001         0.947          -0.669         0              0              0
  82  StoveBurner     0.502          0.932          -0.740         0              90             0
  83  StoveBurner     0.801          0.932          -0.473         0              0              0
  84  StoveBurner     0.801          0.932          -0.740         0              90             0
  85  Drawer          1.116          0.792          1.081          0              0              0
  86  Sink            -0.013         0.912          -0.615         0              0              0
  87  Drawer          1.116          0.792          0.732          0              0              0
  88  StoveBurner     0.502          0.932          -0.469         0              0              0
  89  Drawer          1.116          0.792          0.367          0              0              0
  90  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  91  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  92  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  93  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  94  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  95  Fridge          -1.300         0.008          0.987          0              90             0
  96  GarbageCan      1.296          -0.024         1.465          0              0              0
  97  Window          -0.012         1.641          -0.972         90             0              0
  98  Window          1.598          1.646          2.489          90             270            0
  99  Toaster         1.356          0.900          1.044          0              270            0
 100  LightSwitch     0.118          1.353          3.799          0              180            0
 101  Microwave       -1.343         0.900          0.053          0              90             0
 102  SinkBasin       -0.029         0.748          -0.612         0              0              0
 103  Faucet          -0.026         0.927          -0.808         0              0              0
 104  Shelf           -1.182         0.127          2.414          0              90             0
 105  Stool           1.140          0.007          3.262          1.206          20.753         0
 106  Shelf           -1.182         0.435          2.414          0              90             0
 107  DiningTable     1.169          0.014          2.569          0              0              1.896
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Go forward and then turn right to face the fridge. | STEP 2: Open the fridge and take the vase out and then shut the door to the fridge. | STEP 3: Turn around and face the cabinets below the toaster. | STEP 4: Open the bottom cabinet, second from the left and put the vase in and shut the door. | END