Task: Wash the teapot and put it away under the sink.

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          7.0            0              180            0
   1  Pan             1.314          0.990          1.350          0              90             0              52
   2  Potato          0.544          1.027          0.212          0              0              0              52
   3  Potato          1.966          1.550          6.001          0              270            0              74
   4  Pot             1.559          0.988          4.294          0              0              0              50
   5  Spoon           -0.158         0.761          6.354          0              270            0              88
   6  Spoon           1.225          0.993          1.577          0              0              0              52
   7  Spatula         -0.246         0.775          6.568          0              315            0              88
   8  Fork            0.150          0.760          6.479          0              90             0              88
   9  Cup             0.015          0.756          6.742          0              225            0              91
  10  Knife           1.348          0.801          3.291          0              0              0              45
  11  Tomato          -0.006         0.809          6.414          0              135            0              88
  12  SoapBottle      1.573          0.140          2.794          0              0              0              64
  13  SoapBottle      1.450          2.207          4.262          0              90             0              40
  14  PepperShaker    0.212          0.755          6.196          0              135            0              88
  15  PepperShaker    1.135          0.987          4.579          0              0              0              53
  16  Mug             1.671          0.987          0.213          0              0              0              52
  17  Bowl            1.225          0.991          3.417          0              0              0              52
  18  Bread           1.127          1.049          0.438          0              5.102          356.123        52
  19  Egg             2.137          1.565          5.751          0              270            0              74
  20  Knife           0.927          1.012          0.486          0              0              353.683        52
  21  Fork            0.620          0.993          0.578          0              0              0              52
  22  Apple           -0.530         0.834          6.196          0              225            0              88
  23  Kettle          1.593          0.981          3.25           0              255.000        0              52
  24  Plate           1.493          0.993          0.440          0              0              0              52
  25  SaltShaker      0.262          0.139          0.506          0              0              0              61
  26  Lettuce         0.080          0.848          6.895          0              225            0              88
  27  SoapBottle      -0.621         0.760          6.604          0              270            0              88
  28  Spatula         0.803          0.787          0.395          0              90             0              44
  29  PaperTowelRoll  -0.284         0.864          6.169          0              0              0              88
  30  Pot             1.562          0.988          3.848          0              0              0              46
  31  Potato          1.966          1.550          5.876          0              270            0              74
  32  ButterKnife     -0.443         0.760          6.851          0              135            0              88
  33  PepperShaker    1.577          2.202          3.887          0              0              0              56
  34  Pan             0.124          0.142          0.277          0              90             0              61
  35  Tomato          2.094          1.565          5.501          0              270            0              74
  36  DishSponge      1.489          2.206          3.701          0              0              0              43
  37  Cup             0.064          1.093          0.245          0              0              0              68
  38  Spoon           -0.096         0.761          6.787          0              0              0              88
  39  Mug             -0.483         0.139          0.506          0              0              0              60
  40  Cabinet         1.307          2.455          4.360          0              0              0
  41  Cabinet         1.054          0.422          1.710          0              0              0
  42  Drawer          1.280          0.808          4.718          0              0              0
  43  Cabinet         1.307          2.455          3.607          0              0              0
  44  Drawer          0.736          0.802          0.521          0              0              0
  45  Drawer          1.276          0.802          3.291          0              0              0
  46  StoveBurner     1.562          0.982          3.848          0              0              0
  47  StoveBurner     1.317          0.982          4.294          0              0              0
  48  Drawer          -0.482         0.802          0.521          0              0              0
  49  Drawer          0.124          0.802          0.521          0              0              0
  50  StoveBurner     1.559          0.982          4.294          0              0              0
  51  StoveBurner     1.320          0.982          3.848          0              0              0
  52  CounterTop      1.391          1.028          0.897          0              0              0
  53  CounterTop      1.391          1.028          4.716          0              0              0
  54  Cabinet         1.054          0.422          4.548          0              0              0
  55  Cabinet         1.317          2.134          0.517          0              0              0
  56  Cabinet         1.317          2.134          4.889          0              0              0
  57  Cabinet         1.317          2.134          3.095          0              0              0
  58  Cabinet         0.443          0.422          0.743          0              0              0
  59  Cabinet         1.270          2.134          0.434          0              0              0
  60  Cabinet         -0.775         0.422          0.743          0              0              0
  61  Cabinet         -0.168         0.422          0.743          0              0              0
  62  Cabinet         1.317          2.134          1.534          0              0              0
  63  Cabinet         1.054          0.422          2.990          0              0              0
  64  Cabinet         1.054          0.422          2.944          0              0              0
  65  Cabinet         -0.263         2.134          0.434          0              0              0
  66  Cabinet         0.252          2.134          0.434          0              0              0
  67  Sink            1.391          1.006          2.326          0              0              0
  68  Microwave       0.108          0.981          0.262          0              0              0
  69  HousePlant      -0.165         0.826          6.444          0              0              0
  70  CoffeeMachine   1.551          0.982          0.953          0              270            0
  71  Toaster         1.473          0.981          4.715          0              270            0
  72  Window          -2.065         1.916          3.626          90             90             0
  73  Window          1.763          2.007          2.299          90             270            0
  74  Fridge          2.035          0.0            5.625          0              0              0
  75  SinkBasin       1.387          0.880          2.338          0              90             0
  76  GarbageCan      2.001          -0.044         6.503          0              0              0
  77  StoveKnob       1.140          0.934          3.987          45             270            0
  78  StoveKnob       1.140          0.934          4.309          45             270            0
  79  StoveKnob       1.140          0.934          4.140          45             270            0
  80  StoveKnob       1.140          0.934          3.824          45             270            0
  81  Vase            -0.226         0.834          6.993          0              0              0
  82  Vase            2.098          0.043          7.070          0              257.232        0
  83  Vase            -0.594         0.835          6.130          0              225            0
  84  LightSwitch     -2.0           1.549          6.045          0              90             0
  85  Safe            2.046          1.072          7.054          0              257.232        0
  86  Faucet          1.534          1.025          2.371          0              294.391        0
  87  Blinds          1.738          2.563          2.312          0              90             0
  88  DiningTable     -0.156         0.000          6.474          0              0              0
  89  Chair           0.291          0.002          6.142          0              310.162        0
  90  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  91
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Walk straight past the fridge to the sink. | STEP 2: Pick up the teapot from the counter on the left of the sink. | STEP 3: Turn right and go to the sink. | STEP 4: Put the teapot in the sink and wash it. | STEP 5: Turn around and the back to the sink. | STEP 6: Open the cupboard under the sink and put away the teapot. | END