Task: to clean off the kettle and place 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           1.75           0.900          1.75           0              180            0
   1  Pan             -1.056         0.956          -0.672         0              180            0              55
   2  Statue          -0.822         1.138          0.618          0              0              0              79
   3  Potato          1.891          0.847          -0.551         0              270            0              90
   4  Potato          1.845          0.093          0.138          0              0              0              86
   5  DishSponge      -1.075         0.910          -1.469         0              0              0              83
   6  DishSponge      0.012          0.695          0.263          0              180            0              82
   7  Kettle          -1.056         0.956          -1.127         0              0              0              80
   8  Spatula         -1.157         0.926          -1.891         0              0              0              83
   9  Spatula         -1.045         1.146          0.706          0              0              0              79
  10  Fork            -0.997         0.914          -0.048         0              0              0              76
  11  Fork            -0.598         1.132          0.485          0              0              0              79
  12  Spoon           -0.713         0.695          0.190          0              270            0              77
  13  Spoon           -0.598         1.132          0.706          0              0              0              79
  14  Plate           1.891          1.426          -0.644         0              270            0              90
  15  SoapBottle      -1.247         0.913          -0.170         0              0              0              76
  16  Tomato          -0.777         0.960          -1.760         0              0              0              83
  17  PepperShaker    2.491          0.876          0.168          0              180            0              87
  18  PepperShaker    -0.645         0.688          0.279          0              180            0              77
  19  Bread           1.419          0.993          -2.014         0              0              0              83
  20  Lettuce         1.945          1.175          -0.551         0              270            0              90
  21  Lettuce         1.891          1.504          -0.365         0              270            0              90
  22  Mug             0.501          0.955          -1.900         0              0              0              99
  23  Apple           1.836          1.147          -0.271         0              270            0              90
  24  Apple           1.963          0.111          0.166          0              0              0              86
  25  Pan             -1.289         0.957          -0.756         0              180            0              58
  26  Knife           -0.555         0.717          -1.846         0              270            0              53
  27  Bowl            3.005          0.549          0.038          0              180            0              89
  28  Fork            -1.322         0.911          -1.722         0              0              0              83
  29  Cup             0.101          0.750          -1.938         0              0              0              93
  30  Ladle           -0.777         0.948          -2.182         0              0              0              83
  31  Apple           2.000          0.865          -0.737         0              270            0              90
  32  Kettle          -1.289         0.957          -1.02          0              0              0              73
  33  Vase            2.798          0.554          0.090          0              180            0              89
  34  Potato          2.002          0.093          0.080          0              0              0              86
  35  Pot             -1.089         0.9            0.235          0              0              0              76
  36  Bread           -0.152         1.213          0.573          0              0              0              79
  37  Plate           -1.120         0.900          -1.654         0              0              0              83
  38  Spatula         0.071          1.146          0.529          0              0              0              79
  39  PaperTowelRoll  2.798          0.984          0.141          0              180            0              87
  40  Vase            -1.080         0.919          -0.170         0              0              0              76
  41  Egg             -1.379         0.944          -2.014         0              0              0              83
  42  SoapBottle      3.109          0.552          0.193          0              180            0              89
  43  SaltShaker      -0.691         0.688          -1.802         0              0              0              53
  44  Lettuce         1.891          0.893          -0.365         0              270            0              90
  45  PepperShaker    -0.252         0.691          0.181          0              180            0              82
  46  ButterKnife     -0.375         1.131          0.441          0              0              0              79
  47  DishSponge      3.002          0.879          0.114          0              180            0              89
  48  Vase            -0.849         0.911          0.188          0              0              0              76
  49  Spoon           0.744          0.912          -1.760         0              0              0              83
  50  Tomato          -0.420         0.963          0.083          0              0              0              76
  51  Mug             1.813          1.010          -1.350         0              270            0              88
  52  Statue          -0.657         0.918          -1.845         0              90             0              83
  53  Drawer          -0.819         0.75           -1.690         0              0              0
  54  Cabinet         -1.149         2.264          -0.838         0              90             0
  55  StoveBurner     -1.056         0.949          -0.671         0              180            0
  56  Cabinet         1.738          2.019          -2.000         0              0              0
  57  Cabinet         1.389          0.469          -1.059         0              0              0
  58  StoveBurner     -1.289         0.949          -0.755         0              180            0
  59  Faucet          -0.157         1.052          -2.196         0              270            0
  60  Cabinet         1.75           2.019          -1.029         0              0              0
  61  Cabinet         1.75           2.019          -1.399         0              0              0
  62  Cabinet         1.179          2.019          -2.0           0              0              0
  63  Cabinet         0.199          2.019          -2.0           0              0              0
  64  Cabinet         -1.100         2.019          -2.0           0              0              0
  65  Cabinet         -1.149         2.019          -1.979         0              0              0
  66  Cabinet         -1.149         2.019          -0.770         0              0              0
  67  Cabinet         -1.149         2.019          0.380          0              0              0
  68  Cabinet         -0.819         0.469          -1.689         0              0              0
  69  Cabinet         -0.839         0.469          -1.664         0              0              0
  70  Cabinet         -0.839         0.469          -0.049         0              0              0
  71  Cabinet         -0.414         0.370          -0.009         0              0              0
  72  Sink            -0.118         0.875          -2.009         0              0              0
  73  StoveBurner     -1.289         0.949          -1.019         0              0              0
  74  Cabinet         0.119          2.264          -2.0           0              0              0
  75  Cabinet         -0.459         2.264          -2.0           0              0              0
  76  CounterTop      -0.665         0.949          0.188          0              0              0
  77  Drawer          -0.449         0.75           -0.010         0              180            0
  78  Cabinet         -0.450         0.469          -0.009         0              0              0
  79  CounterTop      -0.630         1.167          0.573          0              0              0
  80  StoveBurner     -1.056         0.949          -1.126         0              0              0
  81  Cabinet         1.376          0.460          -1.685         0              0              0
  82  Drawer          -0.070         0.75           -0.009         0              180            0
  83  CounterTop      1.159          0.946          -2.013         0              0              0
  84  Cabinet         -1.150         2.264          -1.418         0              90             0
  85  HousePlant      -1.246         1.108          0.606          0              0              0
  86  GarbageCan      1.923          -0.010         0.137          0              0              0
  87  Shelf           2.759          0.880          0.144          0              0              0
  88  Microwave       1.827          0.900          -1.354         0              270            0
  89  Shelf           2.759          0.552          0.145          0              0              0
  90  Fridge          1.975          0.0            -0.537         0              0              0
  91  LightSwitch     0.404          1.297          2.0            0              180            0
  92  Shelf           2.760          0.172          0.145          0              0              0
  93  SinkBasin       -0.129         0.752          -2.007         0              0              0
  94  StoveKnob       -0.873         0.903          -0.827         45             90             0
  95  StoveKnob       -0.873         0.903          -0.676         45             90             0
  96  StoveKnob       -0.873         0.903          -0.966         45             90             0
  97  StoveKnob       -0.873         0.903          -1.123         45             90             0
  98  Toaster         0.840          0.900          -2.057         0              0              0
  99  CoffeeMachine   0.501          0.900          -2.125         0              0              0
 100  ShelvingUnit    2.760          0.006          0.144          0              0              0
 101  Stool           -0.826         0.010          0.908          0              347.513        0
 102  Stool           -0.132         0.010          0.883          0              71.555         0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: walk towards the recycling bin and turn right walk towards the counter and turn left towards the coffee pot turn right towards the stove | STEP 2: take the tea kettle off of the stove  | STEP 3: turn right and then right again towards the sink | STEP 4: place the kettle in the sink and rinse with water pick up the kettle from the sink  | STEP 5: turn left towards the open cabinet | STEP 6: place the kettle in the cabinet and shut the doors | END