Task: Put the glass pitcher into 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           0.0            0.908          0.0            0              0              0
   1  CellPhone       -1.012         0.747          2.644          0              0              0              51
   2  CellPhone       1.155          0.773          0.368          0              0              0              84
   3  DishSponge      -0.082         0.758          -0.533         0              0              0              97
   4  ButterKnife     1.367          0.886          2.584          0              0              0              102
   5  Glassbottle     -1.130         0.342          1.197          0              90             0              90
   6  Kettle          1.128          0.912          0.422          0              0              0              70
   7  Spoon           -0.919         0.750          2.459          0              0              0              51
   8  Spoon           1.042          0.777          0.020          0              270            0              71
   9  Fork            -1.135         0.912          -0.477         0              0              0              76
  10  Fork            -1.105         0.750          2.459          0              180            0              51
  11  Spatula         1.523          0.926          -0.144         0              90             0              70
  12  Egg             1.128          0.945          0.706          0              0              0              70
  13  Egg             1.284          0.920          2.800          0              0              0              102
  14  Cup             -1.286         0.911          -0.477         0              0              0              76
  15  Plate           -1.162         0.342          0.883          0              90             0              90
  16  Plate           -0.211         0.117          -0.490         0              0              0              66
  17  Knife           -1.197         0.771          1.902          0              90             0              51
  18  Tomato          0.951          0.936          2.584          0              0              0              102
  19  SoapBottle      1.034          0.887          2.369          0              0              0              102
  20  SoapBottle      0.951          0.887          2.153          0              0              0              102
  21  Bowl            -1.325         1.654          0.222          0              0              0              90
  22  Bread           1.365          0.974          -0.144         0              0              0              70
  23  Lettuce         -1.263         1.707          0.883          0              90             0              90
  24  Apple           0.041          0.818          -0.691         0              0              0              97
  25  Bread           -1.197         0.812          2.644          0              0              0              51
  26  Glassbottle     1.245          0.086          1.440          0              0              0              91
  27  Fork            -0.020         0.759          -0.612         0              0              0              97
  28  Kettle          0.502          0.939          -0.740         0              90             0              77
  29  Tomato          -1.383         0.799          2.830          0              0              0              51
  30  Plate           1.207          0.912          0.139          0              0              0              70
  31  CellPhone       1.200          0.884          2.153          0              0              0              102
  32  Lettuce         -1.012         0.820          1.902          0              0              0              51
  33  Pot             0.510          0.936          -0.491         0              0              0              83
  34  SoapBottle      1.128          0.912          -0.144         0              0              0              70
  35  WineBottle      -0.968         0.913          -0.907         0              0              0              76
  36  Spatula         -0.813         0.927          -0.589         0              0              0              76
  37  Bowl            -1.361         1.013          0.046          0              90             0              96
  38  Apple           -1.206         0.811          1.092          0              90             0              90
  39  Cup             1.523          0.910          0.422          0              0              0              70
  40  Knife           1.367          0.908          2.261          0              0              0              102
  41  Egg             1.034          0.920          2.692          0              0              0              102
  42  SaltShaker      1.044          0.112          0.732          0              0              0              62
  43  PepperShaker    1.367          0.882          2.692          0              0              0              102
  44  Potato          -0.919         0.794          2.087          0              0              0              51
  45  ButterKnife     -1.290         0.749          3.015          0              0              0              51
  46  DishSponge      1.284          0.885          2.692          0              0              0              102
  47  Pan             -1.320         1.420          0.987          0              180            0              90
  48  Spoon           -1.383         0.750          2.459          0              0              0              51
  49  SprayBottle     -1.383         0.748          2.087          0              0              0              51
  50  Mug             -1.394         1.010          -0.109         0              270            0              96
  51  DiningTable     -1.182         0.006          2.414          0              90             0
  52  Cabinet         1.184          2.059          0.375          0              0              0
  53  Cabinet         1.184          2.059          -0.635         0              0              0
  54  Cabinet         0.591          2.309          -0.645         0              0              0
  55  Cabinet         -0.574         2.059          -0.644         0              0              0
  56  Cabinet         -1.103         2.059          -0.644         0              0              0
  57  Cabinet         -1.185         2.059          -0.331         0              0              0
  58  Cabinet         -1.185         2.059          -0.281         0              0              0
  59  Cabinet         -1.185         2.059          0.375          0              0              0
  60  Cabinet         1.184          2.309          1.174          0              0              0
  61  Cabinet         1.184          2.309          0.424          0              0              0
  62  Cabinet         0.988          0.402          0.581          0              0              0
  63  Cabinet         0.988          0.402          0.531          0              0              0
  64  Cabinet         0.988          0.402          -0.178         0              0              0
  65  Cabinet         0.335          0.402          -0.348         0              0              0
  66  Cabinet         -0.374         0.402          -0.348         0              0              0
  67  Cabinet         0.988          0.402          1.231          0              0              0
  68  Cabinet         -1.185         2.309          1.374          0              0              0
  69  Cabinet         -1.185         2.309          0.424          0              0              0
  70  CounterTop      1.274          0.947          0.064          0              0              0
  71  Drawer          1.116          0.792          -0.015         0              0              0
  72  Drawer          -1.116         0.792          0.210          0              180            0
  73  Cabinet         -0.990         0.402          0.374          0              180            0
  74  Drawer          -1.116         0.792          -0.170         0              180            0
  75  Cabinet         -0.990         0.402          -0.335         0              180            0
  76  CounterTop      -1.001         0.947          -0.669         0              0              0
  77  StoveBurner     0.502          0.932          -0.740         0              90             0
  78  StoveBurner     0.801          0.932          -0.473         0              0              0
  79  StoveBurner     0.801          0.932          -0.740         0              90             0
  80  Drawer          1.116          0.792          1.081          0              0              0
  81  Sink            -0.013         0.912          -0.615         0              0              0
  82  Drawer          1.116          0.792          0.732          0              0              0
  83  StoveBurner     0.502          0.932          -0.469         0              0              0
  84  Drawer          1.116          0.792          0.367          0              0              0
  85  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  86  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  87  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  89  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  90  Fridge          -1.300         0.008          0.987          0              90             0
  91  GarbageCan      1.296          -0.024         1.465          0              0              0
  92  Window          -0.012         1.641          -0.972         90             0              0
  93  Window          1.598          1.646          2.489          90             270            0
  94  Toaster         1.356          0.900          1.044          0              270            0
  95  LightSwitch     0.118          1.353          3.799          0              180            0
  96  Microwave       -1.343         0.900          0.053          0              90             0
  97  SinkBasin       -0.029         0.748          -0.612         0              0              0
  98  Faucet          -0.026         0.927          -0.808         0              0              0
  99  Shelf           -1.182         0.127          2.414          0              90             0
 100  Stool           1.140          0.007          3.262          1.206          20.753         0
 101  Shelf           -1.182         0.435          2.414          0              90             0
 102  DiningTable     1.169          0.014          2.569          0              0              1.896
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Walk over to the fridge on your left | STEP 2: Open the fridge and pick up the glass pitcher from it | STEP 3: Turn around and walk to the left side of the kitchen counter | STEP 4: Open the bottom right cabinet and place the pitcher in it | END