Task: Put two bottles of wine 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           -0.25          0.908          3.0            0              90             0
   1  SprayBottle     -1.325         2.152          0.706          0              0              0              69
   2  Potato          -1.197         0.794          2.644          0              0              0              51
   3  ButterKnife     1.367          0.886          2.477          0              0              0              102
   4  ButterKnife     -0.658         0.912          -0.589         0              0              0              76
   5  Glassbottle     -1.197         0.749          2.459          0              0              0              51
   6  Glassbottle     -1.220         0.117          0.248          0              180            0              73
   7  WineBottle      -1.475         0.749          2.273          0              0              0              51
   8  Kettle          1.128          0.912          0.139          0              0              0              70
   9  Spoon           -1.127         0.777          -0.205         0              90             0              74
  10  Fork            -1.105         0.750          2.087          0              0              0              51
  11  Spatula         1.450          0.901          2.584          0              0              0              102
  12  Spatula         1.117          0.901          2.477          0              90             0              102
  13  Pot             0.502          0.939          -0.740         0              90             0              77
  14  Cup             -0.082         0.757          -0.573         0              0              0              97
  15  Cup             -1.162         0.340          1.302          0              90             0              90
  16  Knife           1.207          0.933          -0.144         0              0              0              70
  17  Tomato          -1.378         0.800          0.673          0              90             0              90
  18  Tomato          0.951          0.936          2.477          0              0              0              102
  19  SoapBottle      -0.919         0.750          2.644          0              0              0              51
  20  Bread           -1.320         1.484          0.778          0              90             0              90
  21  Lettuce         -0.919         0.820          2.087          0              0              0              51
  22  PepperShaker    1.523          0.907          0.706          0              0              0              70
  23  Mug             1.131          0.112          0.030          0              0              0              64
  24  Apple           1.414          0.146          1.409          0              0              0              91
  25  Bread           -1.206         0.814          1.092          0              90             0              90
  26  Glassbottle     1.450          0.887          2.261          0              0              0              102
  27  Fork            1.128          0.912          0.706          0              0              0              70
  28  Kettle          -1.357         0.739          3.024          0              240.000        0              51
  29  Tomato          -1.194         0.391          1.092          0              90             0              90
  30  Plate           1.128          0.912          0.422          0              0              0              70
  31  CellPhone       -1.383         0.747          2.087          0              0              0              51
  32  Lettuce         -1.383         0.819          2.644          0              0              0              51
  33  Pot             0.802          0.939          -0.740         0              90             0              79
  34  SoapBottle      -1.325         1.657          -0.519         0              0              0              57
  35  WineBottle      1.200          0.887          2.369          0              0              0              102
  36  Spatula         -1.290         0.764          2.830          0              180            0              51
  37  Bowl            -1.320         1.419          1.197          0              90             0              90
  38  Apple           -1.433         0.972          -0.509         0              0              0              76
  39  Cup             -1.296         1.014          0.046          0              90             0              96
  40  Knife           1.444          0.933          -0.144         0              0              0              70
  41  Egg             0.951          0.920          2.692          0              0              0              102
  42  SaltShaker      -0.664         1.652          -0.786         0              0              0              55
  43  PepperShaker    -1.383         0.745          2.459          0              0              0              51
  44  Potato          -1.263         1.681          0.984          0              90             0              90
  45  ButterKnife     1.284          0.886          2.261          0              0              0              102
  46  DishSponge      0.127          0.116          -0.621         0              0              0              65
  47  Pan             -1.332         0.9            -0.699         0              345.0          0              76
  48  Spoon           -1.127         0.777          0.174          0              90             0              72
  49  SprayBottle     1.245          0.085          1.472          0              0              0              91
  50  Mug             -1.437         0.907          -0.392         0              0              0              76
  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: Go to the front of the table that is under the window, across from you.  | STEP 2: Pick up the wine bottle, behind the tomato, on the table.  | STEP 3: Turn to your right and go to the cabinets under the counter that the toaster is sitting on.  | STEP 4: Place the wine bottle in the right, bottom cabinet, under the toaster.  | STEP 5: Turn around and go to the white, long table, to the right of the refrigerator.  | STEP 6: Pick up the wine bottle, behind the cell phone, on the table.  | STEP 7: Turn around and go back to the cabinets under the counter that the toaster sits on.  | STEP 8: Place the wine bottle in the right cabinet, below the toaster, to the right of the other bottle of wine.  | END