Task: Placing a kettle in the cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          -0.5           0              0              0
   1  Potato          -0.394         0.100          0.439          0              90             0              84
   2  Potato          -2.135         0.541          -1.849         0              0              0              85
   3  DishSponge      -2.065         0.951          0.165          0              90             0              88
   4  DishSponge      0.071          0.772          0.306          0              0              0              61
   5  ButterKnife     1.535          0.912          -1.820         0              0              0              55
   6  Pot             1.007          0.962          0.561          0              270            0              57
   7  Fork            -2.203         0.952          0.435          0              90             0              88
   8  Fork            1.903          0.912          -1.406         0              0              0              55
   9  Spoon           -1.099         0.774          -1.505         0              0              0              68
  10  Spoon           -2.614         0.953          0.345          0              0              0              88
  11  Spatula         -2.065         0.967          0.524          0              90             0              88
  12  Egg             -2.135         1.087          -1.806         0              0              0              85
  13  Cup             -2.047         0.779          -1.677         0              0              0              85
  14  Cup             -1.928         0.950          0.165          0              90             0              88
  15  Plate           -1.791         0.953          0.614          0              90             0              88
  16  Knife           1.907          0.937          0.375          0              90             0              70
  17  SoapBottle      -2.614         0.950          0.255          0              90             0              88
  18  SoapBottle      -2.203         0.950          0.165          0              90             0              88
  19  Tomato          -0.329         0.119          0.612          0              90             0              84
  20  Tomato          1.412          0.961          -1.820         0              0              0              55
  21  Bowl            1.785          0.911          0.292          0              0              0              70
  22  Bowl            -2.31          1.051          -1.806         0              0              0              85
  23  PepperShaker    -2.614         0.948          0.704          0              90             0              88
  24  Lettuce         -0.267         1.002          -1.820         0              0              0              55
  25  Apple           1.785          0.979          0.458          0              0              0              70
  26  Bread           1.299          0.979          -1.532         0              0              0              55
  27  Knife           0.167          0.937          0.458          0              0              0              54
  28  Fork            -2.203         0.952          0.255          0              180            0              88
  29  Bowl            -1.027         1.014          -1.737         0              0              0              77
  30  Kettle          -0.055         0.9            0.643          0              0              0              54
  31  Cup             0.300          0.910          0.209          0              0              0              54
  32  Tomato          -2.047         1.541          -1.849         0              0              0              85
  33  SoapBottle      -2.477         0.950          0.345          0              90             0              88
  34  Plate           -0.110         0.900          -1.596         0              0              0              55
  35  Pot             1.361          0.962          0.561          0              270            0              60
  36  Spatula         1.601          0.927          0.375          0              90             0              70
  37  PaperTowelRoll  1.412          1.007          -1.406         0              0              0              55
  38  Egg             -2.135         1.087          -1.677         0              0              0              85
  39  Lettuce         1.658          1.002          -1.737         0              0              0              55
  40  SaltShaker      1.167          0.908          -1.737         0              0              0              55
  41  PepperShaker    -2.065         0.948          0.704          0              90             0              88
  42  Apple           -2.203         1.019          0.345          0              90             0              88
  43  ButterKnife     1.711          0.9            0.273          0              318.152        0              70
  44  Potato          -2.047         0.541          -1.720         0              0              0              85
  45  Pan             1.022          0.959          0.288          0              219.190        0              67
  46  DishSponge      -1.791         0.951          0.165          0              90             0              88
  47  Spoon           1.791          0.775          0.273          0              90             0              56
  48  Mug             -2.065         0.947          0.345          0              90             0              88
  49  Cabinet         -0.193         1.688          -1.648         0              180            0
  50  StoveBurner     1.360          0.957          0.293          0              180            0
  51  Drawer          0.499          0.792          0.296          0              0              0
  52  Cabinet         0.095          0.400          -1.352         0              180            0
  53  Sink            0.711          0.817          -1.772         0              270            0
  54  CounterTop      0.280          0.947          0.458          0              0              0
  55  CounterTop      -0.680         0.947          -1.654         0              0              0
  56  Drawer          1.825          0.792          0.296          0              0              0
  57  StoveBurner     1.007          0.957          0.561          0              270            0
  58  Drawer          -0.150         0.792          -1.496         0              0              0
  59  Drawer          -0.586         0.792          -1.496         0              0              0
  60  StoveBurner     1.360          0.957          0.561          0              270            0
  61  Drawer          0.024          0.792          0.296          0              0              0
  62  Cabinet         1.079          0.400          -1.349         0              180            0
  63  Cabinet         1.669          0.402          0.151          0              0              0
  64  Cabinet         0.055          0.402          -1.351         0              0              0
  65  Cabinet         -0.180         0.402          0.151          0              0              0
  66  Cabinet         0.729          0.402          0.151          0              0              0
  67  StoveBurner     1.007          0.957          0.293          0              180            0
  68  Drawer          -1.100         0.792          -1.496         0              0              0
  69  Cabinet         -0.396         0.402          -1.351         0              0              0
  70  CounterTop      1.776          0.947          0.458          0              0              0
  71  Cabinet         1.974          1.688          -1.648         0              180            0
  72  Cabinet         -0.820         0.400          -1.349         0              180            0
  73  Toaster         0.305          0.900          0.552          0              180            0
  74  LightSwitch     -2.756         1.307          -0.987         0              90             0
  75  Window          0.582          1.613          -1.967         90             0              0
  76  Window          1.969          1.5            -0.615         90             270            0
  77  Microwave       -1.037         0.900          -1.723         0              0              0
  78  SinkBasin       0.377          0.765          -1.655         0              270            0
  79  CoffeeMachine   0.618          0.900          0.600          0              180            0
  80  StoveKnob       1.246          0.913          0.118          45             180            0
  81  StoveKnob       1.373          0.913          0.118          45             180            0
  82  StoveKnob       0.995          0.913          0.118          45             180            0
  83  StoveKnob       1.126          0.913          0.118          45             180            0
  84  GarbageCan      -0.368         -0.029         0.539          0              90             0
  85  Fridge          -2.134         0.0            -1.690         0              0              0
  86  Faucet          0.549          1.046          -1.833         0              232.527        0
  87  Stool           -1.475         0.000          0.414          1.233          280.375        0
  88  DiningTable     -2.255         -0.004         0.432          0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn left and go to the trash can to the right and to the left of the counter | STEP 2: Pick up the kettle from the counter | STEP 3: Turn around and go to the sink  | STEP 4: Place the kettle in the sink, turn the water on, fill the sink with water, turn the water off | STEP 5: Pick up the kettle from in the sink and turn around towards the stove | STEP 6: Open the cabinet, put the kettle inside to the left of the stove and close the cabinet | END