Task: Put a clean 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           -1.0           0.900          -0.25          0              0              0
   1  Kettle          -0.493         1.329          -1.809         0              180            0              37
   2  Kettle          1.361          0.962          0.561          0              270            0              48
   3  Pan             -2.047         1.492          -1.763         0              90             0              73
   4  Pan             -1.959         0.510          -1.763         0              90             0              73
   5  DishSponge      1.781          0.911          -1.489         0              0              0              43
   6  Fork            0.551          0.773          0.305          0              0              0              39
   7  Spoon           0.446          0.774          0.338          0              270            0              39
   8  Cup             -1.791         0.950          0.165          0              90             0              76
   9  Knife           0.035          0.937          0.540          0              180            0              42
  10  SoapBottle      -2.614         0.950          0.345          0              90             0              76
  11  Lettuce         1.658          1.002          -1.820         0              0              0              43
  12  Lettuce         1.846          1.002          0.540          0              0              0              58
  13  Apple           -2.065         1.019          0.345          0              90             0              76
  14  Bread           -2.203         1.035          0.255          0              90             0              76
  15  Knife           1.781          0.937          -1.571         0              0              0              43
  16  Fork            1.785          0.912          0.292          0              0              0              58
  17  Bowl            -2.135         1.052          -1.720         0              0              0              73
  18  Kettle          -1.928         0.953          0.614          0              90             0              76
  19  Cup             0.035          0.910          0.209          0              0              0              42
  20  Tomato          0.009          0.961          -1.820         0              0              0              43
  21  SoapBottle      -0.427         0.068          0.482          0              90             0              72
  22  Plate           1.608          1.329          -1.809         0              180            0              59
  23  Pot             1.007          0.962          0.561          0              270            0              45
  24  Spatula         -1.928         0.967          0.435          0              180            0              76
  25  PaperTowelRoll  -0.096         1.016          0.706          0              0              0              42
  26  Egg             -0.082         0.947          -1.406         0              0              0              43
  27  Lettuce         -0.096         1.002          0.375          0              0              0              42
  28  SaltShaker      0.209          0.104          -1.472         0              180            0              40
  29  PepperShaker    0.167          0.908          0.706          0              0              0              42
  30  Apple           -0.394         0.137          0.612          0              90             0              72
  31  ButterKnife     -0.359         0.912          -1.820         0              0              0              43
  32  Potato          -2.614         0.982          0.524          0              90             0              76
  33  Pan             1.022          0.959          0.288          0              219.190        0              55
  34  DishSponge      1.785          0.911          0.209          0              0              0              58
  35  Spoon           -2.065         0.953          0.524          0              90             0              76
  36  Mug             -2.477         0.947          0.614          0              90             0              76
  37  Cabinet         -0.193         1.688          -1.648         0              180            0
  38  StoveBurner     1.360          0.957          0.293          0              180            0
  39  Drawer          0.499          0.792          0.296          0              0              0
  40  Cabinet         0.095          0.400          -1.352         0              180            0
  41  Sink            0.711          0.817          -1.772         0              270            0
  42  CounterTop      0.280          0.947          0.458          0              0              0
  43  CounterTop      -0.680         0.947          -1.654         0              0              0
  44  Drawer          1.825          0.792          0.296          0              0              0
  45  StoveBurner     1.007          0.957          0.561          0              270            0
  46  Drawer          -0.150         0.792          -1.496         0              0              0
  47  Drawer          -0.586         0.792          -1.496         0              0              0
  48  StoveBurner     1.360          0.957          0.561          0              270            0
  49  Drawer          0.024          0.792          0.296          0              0              0
  50  Cabinet         1.079          0.400          -1.349         0              180            0
  51  Cabinet         1.669          0.402          0.151          0              0              0
  52  Cabinet         0.055          0.402          -1.351         0              0              0
  53  Cabinet         -0.180         0.402          0.151          0              0              0
  54  Cabinet         0.729          0.402          0.151          0              0              0
  55  StoveBurner     1.007          0.957          0.293          0              180            0
  56  Drawer          -1.100         0.792          -1.496         0              0              0
  57  Cabinet         -0.396         0.402          -1.351         0              0              0
  58  CounterTop      1.776          0.947          0.458          0              0              0
  59  Cabinet         1.974          1.688          -1.648         0              180            0
  60  Cabinet         -0.820         0.400          -1.349         0              180            0
  61  Toaster         0.305          0.900          0.552          0              180            0
  62  LightSwitch     -2.756         1.307          -0.987         0              90             0
  63  Window          0.582          1.613          -1.967         90             0              0
  64  Window          1.969          1.5            -0.615         90             270            0
  65  Microwave       -1.037         0.900          -1.723         0              0              0
  66  SinkBasin       0.377          0.765          -1.655         0              270            0
  67  CoffeeMachine   0.618          0.900          0.600          0              180            0
  68  StoveKnob       1.246          0.913          0.118          45             180            0
  69  StoveKnob       1.373          0.913          0.118          45             180            0
  70  StoveKnob       0.995          0.913          0.118          45             180            0
  71  StoveKnob       1.126          0.913          0.118          45             180            0
  72  GarbageCan      -0.368         -0.029         0.539          0              90             0
  73  Fridge          -2.134         0.0            -1.690         0              0              0
  74  Faucet          0.549          1.046          -1.833         0              232.527        0
  75  Stool           -1.475         0.000          0.414          1.233          280.375        0
  76  DiningTable     -2.255         -0.004         0.432          0              0              0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn right, step forward, then turn right to approach the upper cabinet. | STEP 2: Take the kettle from the cabinet. | STEP 3: Turn left, move forward, then turn right to go to the sink. | STEP 4: Clean the kettle in the sink. | STEP 5: Go to the bottom cabinet behind you, to the left of the oven. | STEP 6: Put the kettle in the bottom cabinet, the left of the oven. | END