Task: To rinse a kettle and put it 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           -0.75          1.124          -0.5           0              90             0
   1  Potato          -1.610         0.319          2.110          0              270            0              65
   2  WineBottle      -1.602         0.344          -1.763         0              0              0              46
   3  WineBottle      -1.094         1.323          -3.314         0              0              0              50
   4  Fork            1.023          0.953          0.983          0              90             0              73
   5  Pot             -0.239         1.331          -3.301         0              180            0              45
   6  Pot             1.155          1.329          -2.053         0              0              0              50
   7  Cup             1.276          1.205          1.238          0              0              0              75
   8  Plate           -1.750         0.344          1.110          0              0              0              51
   9  Knife           -1.790         1.352          1.419          0              0              0              50
  10  Knife           -1.660         1.352          -2.201         0              0              0              50
  11  Tomato          1.027          1.241          1.254          0              0              0              75
  12  Tomato          0.920          1.558          1.786          0              270            0              63
  13  Bowl            -1.614         0.342          0.412          0              0              0              48
  14  Bowl            1.017          1.755          2.289          0              270            0              63
  15  SaltShaker      -1.165         1.318          -3.092         0              0              0              50
  16  SaltShaker      0.976          0.339          -1.854         0              180            0              49
  17  PepperShaker    -1.665         0.338          -1.963         0              0              0              46
  18  Bread           0.563          1.397          -3.232         0              0              0              50
  19  Lettuce         0.563          1.399          -2.789         0              0              0              50
  20  Apple           1.095          1.724          1.604          0              270            0              63
  21  Apple           -1.401         1.371          -2.201         0              0              0              50
  22  Bread           -2.049         1.397          -2.721         0              0              0              50
  23  Pot             -0.125         1.332          -2.973         0              0              0              58
  24  Knife           0.715          1.317          -2.202         90             27.324         0              50
  25  Bowl            -1.681         0.342          0.211          0              0              0              48
  26  Potato          1.072          1.564          1.662          0              270            0              63
  27  SoapBottle      -1.657         0.280          2.234          0              270            0              65
  28  Fork            -1.530         1.323          0.445          0              0              0              50
  29  Cup             1.213          1.307          1.016          0              270            0              75
  30  Kettle          -1.451         1.324          -2.760         0              0              0              50
  31  Egg             -2.049         1.363          -1.681         0              0              0              50
  32  Pan             -0.749         1.332          -2.973         0              0              0              53
  33  SaltShaker      -1.727         0.338          -2.162         0              0              0              46
  34  WineBottle      -1.530         1.323          -2.981         0              0              0              50
  35  Lettuce         -1.891         1.400          -1.072         1.383          0              355.703        57
  36  Spatula         -2.179         1.337          -2.721         0              90             0              50
  37  PaperTowelRoll  -1.401         1.427          2.069          0              0              0              50
  38  Tomato          -2.179         1.356          0.445          0              0              0              50
  39  Plate           1.053          0.345          -2.267         0              180            0              49
  40  PepperShaker    -2.179         1.318          0.770          0              0              0              50
  41  DishSponge      1.053          0.344          -1.751         0              180            0              49
  42  Spoon           -1.920         1.324          0.770          0              0              0              50
  43  Apple           0.861          1.256          1.238          0              0              0              75
  44  Mug             -2.179         1.318          -2.201         0              0              0              50
  45  StoveBurner     -0.239         1.325          -3.301         0              180            0
  46  Cabinet         -1.461         0.775          -2.002         0              0              0
  47  StoveBurner     -0.630         1.325          -3.301         0              180            0
  48  Cabinet         -1.461         0.775          0.470          0              0              0
  49  Cabinet         0.578          0.776          -2.054         0              0              0
  50  CounterTop      -1.809         1.358          1.182          0              0              0
  51  Cabinet         -1.461         0.775          1.310          0              0              0
  52  Faucet          -2.063         1.362          -0.726         0              39.391         0
  53  StoveBurner     -0.749         1.325          -2.973         0              0              0
  54  Drawer          -1.610         0.681          -0.430         0              0              0
  55  Window          -2.566         1.799          -0.822         270            0              0
  56  Drawer          -1.610         0.681          -1.217         0              0              0
  57  Sink            -1.990         1.143          -0.975         0              0              0
  58  StoveBurner     -0.125         1.325          -2.973         0              0              0
  59  StoveKnob       -0.185         1.338          -2.741         0              270            180
  60  StoveKnob       -0.336         1.338          -2.741         0              270            180
  61  StoveKnob       -0.569         1.338          -2.741         0              270            180
  62  StoveKnob       -0.707         1.338          -2.741         0              270            180
  63  Fridge          1.013          0.227          1.917          0              270            0
  64  Microwave       0.994          1.310          -2.163         0              270            0
  65  GarbageCan      -1.633         0.212          2.192          0              270            0
  66  LightSwitch     1.386          1.565          -0.657         0              270            0
  67  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  68  SinkBasin       -1.835         1.039          -0.542         0              0              0
  69  ButterKnife     0.873          0.468          0.651          0              0              0
  70  Toaster         -1.885         1.310          -2.512         0              90             0
  71  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  72  Drawer          0.647          1.061          0.680          0              270            0
  73  Drawer          0.648          1.061          1.020          0              270            0
  74  Drawer          0.648          0.843          1.020          0              270            0
  75  SideTable       0.975          0.220          0.869          0              270            0
  76  Drawer          0.648          0.602          0.680          0              270            0
  77  Drawer          0.648          0.596          1.020          0              270            0
  78  Drawer          0.648          0.843          0.680          0              270            0
  79  Stool           0.606          0.222          -1.084         1.233          280.489        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Walk to the counter to the right of the stove.  | STEP 2: Pick up the kettle from the counter.  | STEP 3: Turn around and walk to the sink on the left.  | STEP 4: Put the kettle down inside the sink, rinse off the kettle, pick it up from the sink.  | STEP 5: Face the cabinet below the counter to the left of the sink.  | STEP 6: Open the cabinet door, put the kettle in the cabinet, close the door.  | END