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           0.0            0.908          1.25           0              180            0
   1  Potato          1.367          0.931          2.261          0              0              0              104
   2  CellPhone       1.523          0.909          -0.428         0              0              0              72
   3  ButterKnife     -1.197         0.748          3.015          0              0              0              53
   4  Glassbottle     -1.383         0.750          2.087          0              0              0              53
   5  Fork            1.367          0.886          2.477          0              90             0              104
   6  Spatula         1.450          0.901          2.369          0              90             0              104
   7  Pot             0.502          0.939          -0.740         0              90             0              79
   8  Egg             1.365          0.945          0.422          0              0              0              72
   9  Egg             0.165          0.792          -0.573         0              0              0              99
  10  Cup             -1.162         0.340          0.988          0              90             0              92
  11  Plate           -1.325         2.154          0.706          0              0              0              71
  12  Plate           1.207          0.912          0.422          0              0              0              72
  13  Tomato          1.444          0.961          0.139          0              0              0              72
  14  Tomato          -0.144         0.808          -0.573         0              0              0              99
  15  SoapBottle      1.200          0.887          2.584          0              0              0              104
  16  Bowl            -1.325         2.151          1.206          0              0              0              70
  17  Bread           1.207          0.974          0.706          0              0              0              72
  18  Bread           1.286          0.974          -0.144         0              0              0              72
  19  Lettuce         -1.320         1.707          0.984          0              90             0              92
  20  Lettuce         -0.919         0.820          2.459          0              0              0              53
  21  SaltShaker      1.087          0.113          -0.011         0              0              0              66
  22  PepperShaker    -1.290         0.745          2.273          0              0              0              53
  23  PepperShaker    -1.475         0.745          1.902          0              0              0              53
  24  Mug             -1.361         1.010          0.098          0              90             0              98
  25  Mug             1.327          1.655          0.194          0              0              0              54
  26  Apple           1.034          0.946          2.261          0              0              0              104
  27  Bread           -1.206         1.484          0.778          0              90             0              92
  28  Glassbottle     0.951          0.887          2.584          0              0              0              104
  29  Fork            0.103          0.759          -0.612         0              0              0              99
  30  Kettle          -1.357         0.739          3.024          0              240.000        0              53
  31  Tomato          -1.378         1.470          1.197          0              90             0              92
  32  Plate           0.726          2.156          -0.787         0              0              0              56
  33  CellPhone       1.155          0.773          0.701          0              0              0              84
  34  Lettuce         -1.383         0.820          2.459          0              0              0              53
  35  Pot             0.802          0.939          -0.740         0              90             0              81
  36  SoapBottle      1.284          0.887          2.369          0              0              0              104
  37  WineBottle      1.049          0.912          -0.428         0              0              0              72
  38  Spatula         -1.105         0.764          1.902          0              0              0              53
  39  Bowl            -1.105         0.747          2.644          0              0              0              53
  40  Apple           -1.296         1.075          -0.057         0              90             0              98
  41  Cup             -1.149         0.750          1.302          0              90             0              92
  42  Knife           -1.197         0.770          2.644          0              0              0              53
  43  Egg             -1.475         0.783          2.830          0              0              0              53
  44  SaltShaker      -1.383         0.745          2.830          0              0              0              53
  45  PepperShaker    -1.012         0.745          2.087          0              0              0              53
  46  Potato          -1.394         1.060          -0.109         0              90             0              98
  47  ButterKnife     -1.197         0.748          2.830          0              180            0              53
  48  DishSponge      1.365          0.911          -0.428         0              0              0              72
  49  Pan             -1.206         0.750          0.988          0              90             0              92
  50  Spoon           -1.123         0.913          -0.828         0              0              0              78
  51  SprayBottle     1.189          0.085          1.409          0              0              0              93
  52  Mug             -0.020         0.753          -0.691         0              0              0              99
  53  DiningTable     -1.182         0.006          2.414          0              90             0
  54  Cabinet         1.184          2.059          0.375          0              0              0
  55  Cabinet         1.184          2.059          -0.635         0              0              0
  56  Cabinet         0.591          2.309          -0.645         0              0              0
  57  Cabinet         -0.574         2.059          -0.644         0              0              0
  58  Cabinet         -1.103         2.059          -0.644         0              0              0
  59  Cabinet         -1.185         2.059          -0.331         0              0              0
  60  Cabinet         -1.185         2.059          -0.281         0              0              0
  61  Cabinet         -1.185         2.059          0.375          0              0              0
  62  Cabinet         1.184          2.309          1.174          0              0              0
  63  Cabinet         1.184          2.309          0.424          0              0              0
  64  Cabinet         0.988          0.402          0.581          0              0              0
  65  Cabinet         0.988          0.402          0.531          0              0              0
  66  Cabinet         0.988          0.402          -0.178         0              0              0
  67  Cabinet         0.335          0.402          -0.348         0              0              0
  68  Cabinet         -0.374         0.402          -0.348         0              0              0
  69  Cabinet         0.988          0.402          1.231          0              0              0
  70  Cabinet         -1.185         2.309          1.374          0              0              0
  71  Cabinet         -1.185         2.309          0.424          0              0              0
  72  CounterTop      1.274          0.947          0.064          0              0              0
  73  Drawer          1.116          0.792          -0.015         0              0              0
  74  Drawer          -1.116         0.792          0.210          0              180            0
  75  Cabinet         -0.990         0.402          0.374          0              180            0
  76  Drawer          -1.116         0.792          -0.170         0              180            0
  77  Cabinet         -0.990         0.402          -0.335         0              180            0
  78  CounterTop      -1.001         0.947          -0.669         0              0              0
  79  StoveBurner     0.502          0.932          -0.740         0              90             0
  80  StoveBurner     0.801          0.932          -0.473         0              0              0
  81  StoveBurner     0.801          0.932          -0.740         0              90             0
  82  Drawer          1.116          0.792          1.081          0              0              0
  83  Sink            -0.013         0.912          -0.615         0              0              0
  84  Drawer          1.116          0.792          0.732          0              0              0
  85  StoveBurner     0.502          0.932          -0.469         0              0              0
  86  Drawer          1.116          0.792          0.367          0              0              0
  87  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  90  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  91  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  92  Fridge          -1.300         0.008          0.987          0              90             0
  93  GarbageCan      1.296          -0.024         1.465          0              0              0
  94  Window          -0.012         1.641          -0.972         90             0              0
  95  Window          1.598          1.646          2.489          90             270            0
  96  Toaster         1.356          0.900          1.044          0              270            0
  97  LightSwitch     0.118          1.353          3.799          0              180            0
  98  Microwave       -1.343         0.900          0.053          0              90             0
  99  SinkBasin       -0.029         0.748          -0.612         0              0              0
 100  Faucet          -0.026         0.927          -0.808         0              0              0
 101  Shelf           -1.182         0.127          2.414          0              90             0
 102  Stool           1.140          0.007          3.262          1.206          20.753         0
 103  Shelf           -1.182         0.435          2.414          0              90             0
 104  DiningTable     1.169          0.014          2.569          0              0              1.896
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn around, move to face the table on the left.  | STEP 2: Pick up the vase on the table.  | STEP 3: Turn around, move to the cabinet under the toaster. | STEP 4: Put the vase in the right cabinet under the toaster.  | END