Task: Get kettle out of cabinet, wash kettle, put kettle on counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.914          1.75           0              270            0
   1  Potato          -3.568         1.578          2.068          0              90             0              79
   2  DishSponge      -3.526         1.994          1.945          0              0              0              62
   3  DishSponge      -2.402         0.915          3.567          0              0              0              48
   4  ButterKnife     -3.368         0.915          1.440          0              0              0              57
   5  WineBottle      -1.127         0.892          0.564          0              90             0              84
   6  WineBottle      -1.127         0.892          0.255          0              90             0              84
   7  Kettle          -3.143         0.966          1.971          0              0              0              68
   8  Spatula         -3.081         0.930          1.273          0              90             0              57
   9  Spatula         -1.787         0.906          0.358          0              90             0              84
  10  Spoon           -2.302         0.916          4.106          0              0              0              48
  11  Spoon           -1.787         0.892          0.049          0              90             0              84
  12  Fork            -3.559         0.916          1.357          0              270            0              57
  13  Fork            -2.402         0.916          3.783          0              0              0              48
  14  Pot             -3.424         0.966          1.971          0              0              0              56
  15  Cup             -0.089         0.986          4.114          0              180            0              74
  16  Tomato          -0.673         0.791          3.843          0              180            0              74
  17  SoapBottle      -2.460         0.080          3.547          0              0              0              59
  18  SoapBottle      -1.259         0.891          0.255          0              90             0              84
  19  SaltShaker      -1.259         0.887          -0.053         0              90             0              84
  20  SaltShaker      -1.127         0.887          -0.053         0              90             0              84
  21  PepperShaker    -3.081         0.912          1.106          0              0              0              57
  22  PepperShaker    -3.068         0.743          2.750          0              0              0              50
  23  Mug             -0.994         0.886          0.358          0              90             0              84
  24  Mug             -0.994         0.886          0.152          0              90             0              84
  25  Egg             -3.654         0.950          1.106          0              0              0              57
  26  Knife           -3.368         0.939          1.189          0              90             0              57
  27  Fork            -1.391         0.892          0.152          0              270            0              84
  28  Bread           -1.522         0.963          0.276          0              280.313        0              84
  29  Potato          -0.790         0.755          3.843          0              180            0              74
  30  Plate           -3.005         0.904          3.677          0              0              0              48
  31  Pot             -3.424         0.966          2.374          0              0              0              54
  32  Kettle          -3.145         0.069          2.920          0              270            0              61
  33  WineBottle      -1.523         0.892          0.564          0              90             0              84
  34  Bowl            -2.302         0.914          3.998          0              0              0              48
  35  Tomato          -3.176         0.984          1.524          0              0              0              57
  36  Cup             -0.439         0.722          3.843          0              180            0              74
  37  Spatula         -1.259         0.906          0.358          0              90             0              84
  38  SoapBottle      -1.224         0.086          3.788          0              270            0              80
  39  Lettuce         -0.323         1.072          3.988          0              180            0              74
  40  Pan             -0.673         0.985          4.051          0              0              0              74
  41  Apple           -1.655         0.951          0.461          0              90             0              84
  42  SaltShaker      -1.655         0.887          -0.053         0              90             0              84
  43  PepperShaker    -3.185         0.743          2.972          0              0              0              50
  44  ButterKnife     -2.022         0.915          4.104          0              0              0              48
  45  DishSponge      -1.523         0.891          0.049          0              90             0              84
  46  Spoon           -1.391         0.892          -0.053         0              0              0              84
  47  Mug             -3.559         0.910          1.524          0              0              0              57
  48  CounterTop      -3.381         0.950          3.335          0              0              0
  49  Drawer          -3.121         0.775          1.357          0              0              0
  50  Drawer          -3.121         0.777          2.916          0              0              0
  51  StoveBurner     -3.148         0.958          2.374          0              0              0
  52  Sink            -1.797         0.917          3.660          0              0              0
  53  Cabinet         -1.421         0.388          3.459          0              0              0
  54  StoveBurner     -3.424         0.958          2.374          0              0              0
  55  Cabinet         -3.365         1.931          2.676          0              0              0
  56  StoveBurner     -3.424         0.958          1.971          0              0              0
  57  CounterTop      -3.381         0.951          1.356          0              0              0
  58  Drawer          -3.121         0.781          3.295          0              0              0
  59  Cabinet         -2.205         0.388          3.459          0              0              0
  60  Cabinet         -2.963         0.388          3.459          0              0              0
  61  Cabinet         -2.992         0.388          2.683          0              0              0
  62  Cabinet         -3.352         2.205          1.715          0              0              0
  63  Cabinet         -3.352         2.205          2.653          0              0              0
  64  Cabinet         -2.189         0.388          3.466          0              0              0
  65  Cabinet         -3.365         1.931          3.963          0              0              0
  66  Cabinet         -3.365         1.931          1.056          0              0              0
  67  Cabinet         -2.992         0.388          1.037          0              0              0
  68  StoveBurner     -3.143         0.958          1.971          0              0              0
  69  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  70  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  71  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  72  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  73  Toaster         -2.654         0.902          4.064          0              180            0
  74  Fridge          -0.439         0.014          3.996          0              0              0
  75  LightSwitch     0.25           1.383          2.085          0              270            0
  76  Window          -1.430         1.338          -0.347         90             0              0
  77  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  78  SinkBasin       -1.802         0.778          3.700          0              0              0
  79  Microwave       -3.484         1.430          2.182          0              90             0
  80  GarbageCan      -1.184         -0.020         3.794          0              270            0
  81  Blinds          -1.404         2.092          -0.296         0              0              0
  82  Stool           -1.373         0.014          1.048          1.214          20.754         0
  83  Faucet          -1.788         0.903          3.931          270            90             0
  84  DiningTable     -1.399         0.010          0.238          0              0              0
  85  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn right, go to sink, turn left, go to counter with coffee maker on it. | STEP 2: Open lower cabinet, remove kettle from cabinet, close cabinet. | STEP 3: Turn around, proceed to sink on left.  Turn left to face sink. | STEP 4: Put kettle in sink, fill with water, empty water, pick up kettle from sink. | STEP 5: Turn left, proceed to counter. | STEP 6: Put kettle on counter in front of coffee maker. | END