Task: Putting a bottle 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           1.25           0.900          3.0            0              0              0
   1  Potato          -0.418         1.069          0.877          0              0              0              59
   2  Ladle           2.762          0.840          -0.267         0              0              0              66
   3  DishSponge      2.554          0.032          -0.586         0              0              0              97
   4  DishSponge      -0.577         0.816          1.492          0              90             0              113
   5  ButterKnife     2.801          0.764          3.895          0              270            0              57
   6  WineBottle      -0.875         0.078          2.874          0              0              0              111
   7  Pot             2.116          1.027          -1.84          0              270            0              60
   8  Pot             2.177          1.027          -1.599         0              0              0              55
   9  Spatula         2.537          0.815          -0.607         0              270            0              66
  10  Spoon           1.446          0.791          -1.502         0              0              0              63
  11  Spoon           -0.731         0.801          0.696          0              0              0              58
  12  Egg             2.525          0.808          3.445          0              0              0              57
  13  Egg             2.570          0.808          3.614          0              329.999        0              57
  14  Cup             2.976          0.763          3.970          0              270            0              57
  15  Cup             2.726          0.763          3.492          0              329.999        0              57
  16  Plate           2.243          0.764          3.657          0              225            0              57
  17  Plate           -0.922         1.442          -0.516         0              90             0              100
  18  Knife           2.100          0.789          4.044          0              270            0              57
  19  Knife           2.370          1.052          1.550          0              136.999        0              56
  20  Tomato          -0.947         0.839          -0.738         0              90             0              100
  21  Tomato          1.811          1.080          1.307          0              136.999        0              56
  22  SoapBottle      2.348          0.763          3.552          0              225            0              57
  23  Bowl            -0.858         0.332          -0.738         0              90             0              100
  24  Bowl            2.599          0.762          4.32           0              0              0              57
  25  PepperShaker    1.297          0.786          -1.589         0              0              0              56
  26  Bread           2.331          0.832          4.325          0              329.999        0              57
  27  Bread           2.503          0.832          3.917          0              225            0              57
  28  Pan             2.650          0.034          0.168          0              270            0              82
  29  Glassbottle     -1.022         1.782          1.247          0              0              0              90
  30  Knife           1.290          1.052          -1.774         0              180            0              56
  31  SoapBottle      2.790          1.025          -0.846         0              0              0              56
  32  Egg             2.790          1.070          -1.151         0              0              0              56
  33  Fork            2.398          0.765          4.022          0              225            0              57
  34  Potato          2.673          0.806          3.795          0              0              0              57
  35  Ladle           2.959          1.066          -1.456         0              0              0              56
  36  Tomato          2.100          0.818          3.895          0              270            0              57
  37  Pot             1.836          1.027          -1.84          0              90             0              54
  38  WineBottle      -1.171         1.028          1.943          0              0              0              59
  39  Plate           2.706          1.027          0.068          0              0              0              56
  40  Spatula         -0.851         0.831          1.337          0              180            0              113
  41  PaperTowelRoll  2.230          0.868          4.054          0              329.999        0              57
  42  Lettuce         -0.947         0.844          -0.295         0              90             0              100
  43  Apple           -1.045         1.077          2.434          0              0              0              59
  44  SaltShaker      2.650          0.797          0.302          0              0              0              68
  45  PepperShaker    -0.544         1.023          0.508          0              0              0              59
  46  ButterKnife     2.818          0.800          -0.653         0              90             0              56
  47  Bread           -0.968         1.510          -0.184         0              90             0              100
  48  Cup             -1.013         1.440          -0.738         0              90             0              100
  49  DishSponge      2.113          0.764          3.527          0              225            0              57
  50  Bowl            2.899          0.031          -0.323         0              0              0              82
  51  Spoon           2.761          0.801          -0.607         0              270            0              56
  52  Mug             -0.807         2.285          -0.676         0              0              0              100
  53  Sink            -0.716         1.023          1.333          0              0              0
  54  StoveBurner     1.835          1.018          -1.840         0              90             0
  55  StoveBurner     2.177          1.018          -1.599         0              0              0
  56  CounterTop      2.812          0.992          0.675          0              0              0
  57  DiningTable     2.419          0.003          3.930          0              0              0
  58  Drawer          -0.643         0.828          0.616          0              0              0
  59  CounterTop      -0.813         1.062          2.188          0              0              0
  60  StoveBurner     2.115          1.018          -1.840         0              270            0
  61  Drawer          -0.643         0.831          1.953          0              0              0
  62  Drawer          -0.643         0.833          2.418          0              0              0
  63  Drawer          1.347          0.836          -1.539         0              0              0
  64  Drawer          2.693          0.833          -1.131         0              0              0
  65  Drawer          2.693          0.833          -0.699         0              0              0
  66  Drawer          2.693          0.833          -0.267         0              0              0
  67  Drawer          2.693          0.833          0.163          0              0              0
  68  Drawer          2.524          0.833          0.720          0              2.000          0
  69  Drawer          2.232          0.833          1.036          0              2.000          0
  70  Drawer          1.936          0.833          1.354          0              2.000          0
  71  Drawer          1.646          0.833          1.670          0              2.000          0
  72  Cabinet         1.504          2.475          -1.710         0              0              0
  73  Cabinet         -0.823         2.220          1.621          0              0              0
  74  Cabinet         -0.823         2.220          0.615          0              0              0
  75  Cabinet         1.136          0.388          -1.355         0              0              0
  76  Cabinet         -0.356         0.383          2.626          0              0              0
  77  Cabinet         2.745          2.220          -1.690         0              0              0
  78  Cabinet         1.882          0.383          1.017          0              0              0
  79  Cabinet         1.307          0.473          1.640          0              0              0
  80  Cabinet         1.892          0.383          1.006          0              0              0
  81  Cabinet         2.467          0.383          0.383          0              0              0
  82  Cabinet         2.466          0.383          -0.475         0              0              0
  83  Cabinet         2.466          0.473          0.371          0              0              0
  84  Cabinet         2.386          2.475          -1.710         0              0              0
  85  Cabinet         -0.356         0.383          1.712          0              0              0
  86  Cabinet         2.745          2.220          0.019          0              0              0
  87  Cabinet         -0.663         2.496          0.157          0              0              0
  88  Cabinet         -0.663         2.496          -0.868         0              0              0
  89  Cabinet         -0.356         0.383          0.269          0              0              0
  90  Cabinet         -0.823         2.220          1.603          0              0              0
  91  Cabinet         -0.662         2.234          0.586          0              0              0
  92  Cabinet         2.745          2.220          -0.843         0              0              0
  93  Cabinet         2.745          2.220          -0.827         0              0              0
  94  Cabinet         -0.823         2.220          2.608          0              0              0
  95  Cabinet         2.732          2.226          -1.709         0              0              0
  96  Cabinet         1.137          2.226          -1.709         0              0              0
  97  Cabinet         2.466          0.383          -0.491         0              0              0
  98  Cabinet         2.466          0.383          -1.339         0              0              0
  99  StoveBurner     1.761          1.018          -1.599         0              0              0
 100  Fridge          -0.908         0.0            -0.405         0              0              0
 101  HousePlant      2.517          1.016          1.822          0              0              0
 102  Microwave       1.939          1.745          -1.826         0              0              0
 103  StoveKnob       2.017          1.041          -1.514         0              180            180
 104  StoveKnob       1.934          1.041          -1.514         0              180            180
 105  StoveKnob       2.017          1.041          -1.589         0              180            180
 106  StoveKnob       1.934          1.041          -1.589         0              180            180
 107  Window          1.756          1.608          4.762          90             0              0
 108  HousePlant      2.171          1.004          2.091          0              0              0
 109  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 110  LightSwitch     -0.099         1.410          -2.066         0              0              0
 111  GarbageCan      -0.951         -0.029         2.826          0              0              0
 112  Toaster         -1.007         1.018          2.238          0              90             0
 113  SinkBasin       -0.714         0.805          1.348          0              90             0
 114  Chair           1.615          0.004          4.310          0              107.976        0
 115  Faucet          -1.120         1.013          1.334          0              90             0
 116  Chair           2.759          0.004          3.086          0              358.967        0
 117
 118  NorthWall
 119  EastWall
 120  SouthWall
 121  WestWall

Plan:
STEP 1: Turn around and head to the right of the sink | STEP 2: Grab the bottle that is at the back of the counter | STEP 3: Turn left and head to the fridge. Open the bottom door on the fridge. | STEP 4: Put the bottle on the bottom rack of the fridge and close the door. Open the door and take the bottle out. Close the door. | STEP 5: Turn around and walk to the washing machine. Open the door of the cabinet that is to the right of the washing machine. | STEP 6: Place the bottle inside the cabinet and close the door. | END