Task: Wash a teapot to put it away in a 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          1.5            0              90             0
   1  Pan             -0.125         1.332          -2.973         0              0              0              56
   2  DishSponge      0.277          1.322          -2.678         0              0              0              48
   3  Kettle          1.053          0.346          -2.164         0              180            0              47
   4  Spoon           1.065          0.954          1.054          0              270            0              71
   5  Spatula         -1.561         0.437          -0.298         0              270            0              52
   6  Spatula         -1.920         1.337          0.445          0              0              0              48
   7  Pot             -1.660         1.329          1.094          0              0              0              48
   8  Pot             -0.749         1.332          -2.973         0              0              0              51
   9  Egg             -1.586         0.321          2.110          0              270            0              63
  10  Egg             1.027          1.248          1.238          0              0              0              73
  11  Plate           -1.818         0.344          1.110          0              0              0              49
  12  Plate           0.824          0.345          -1.854         0              180            0              47
  13  SoapBottle      -1.681         0.280          2.110          0              0              0              63
  14  Tomato          -1.657         0.314          2.275          0              270            0              63
  15  Bowl            -1.749         0.342          0.713          0              0              0              46
  16  Bowl            0.971          1.522          1.601          0              270            0              61
  17  PepperShaker    1.193          1.202          1.222          0              0              0              73
  18  Bread           0.349          1.397          -3.121         0              0              0              48
  19  Apple           1.056          1.724          1.781          0              270            0              61
  20  Bread           -1.308         1.397          -3.314         0              0              0              48
  21  Pot             -1.817         0.350          0.412          0              0              0              46
  22  Knife           -1.308         1.352          -2.760         0              0              0              48
  23  Bowl            -1.789         0.342          -2.262         0              270            0              44
  24  Potato          1.148          1.350          0.861          0              270            0              73
  25  SoapBottle      1.025          1.323          -2.053         0              0              0              48
  26  Fork            -1.401         1.323          0.120          0              0              0              48
  27  Cup             0.636          1.320          -3.164         0              0              0              48
  28  Kettle          -1.920         1.324          -1.681         0              0              0              48
  29  Egg             0.944          1.248          1.222          0              0              0              73
  30  Pan             -1.920         1.322          -2.201         0              0              0              48
  31  SaltShaker      0.492          1.318          -3.121         0              0              0              48
  32  WineBottle      -1.954         0.344          1.627          0              0              0              49
  33  Lettuce         -1.891         1.400          -1.072         1.503          0              355.747        55
  34  Spatula         -2.049         1.337          1.744          0              0              0              48
  35  PaperTowelRoll  -1.530         1.427          -2.461         0              0              0              48
  36  Tomato          0.778          1.241          1.238          0              0              0              73
  37  Plate           1.017          1.757          2.171          0              270            0              61
  38  PepperShaker    -1.884         0.338          0.211          0              0              0              46
  39  DishSponge      -1.749         0.343          0.110          0              0              0              46
  40  Spoon           0.981          0.741          1.019          0              0              0              78
  41  Apple           -1.363         1.371          -1.503         0              0              0              48
  42  Mug             0.766          1.318          -0.942         0              0              0              48
  43  StoveBurner     -0.239         1.325          -3.301         0              180            0
  44  Cabinet         -1.461         0.775          -2.002         0              0              0
  45  StoveBurner     -0.630         1.325          -3.301         0              180            0
  46  Cabinet         -1.461         0.775          0.470          0              0              0
  47  Cabinet         0.578          0.776          -2.054         0              0              0
  48  CounterTop      -1.809         1.358          1.182          0              0              0
  49  Cabinet         -1.461         0.775          1.310          0              0              0
  50  Faucet          -2.063         1.362          -0.726         0              39.391         0
  51  StoveBurner     -0.749         1.325          -2.973         0              0              0
  52  Drawer          -1.610         0.681          -0.430         0              0              0
  53  Window          -2.566         1.799          -0.822         270            0              0
  54  Drawer          -1.610         0.681          -1.217         0              0              0
  55  Sink            -1.990         1.143          -0.975         0              0              0
  56  StoveBurner     -0.125         1.325          -2.973         0              0              0
  57  StoveKnob       -0.185         1.338          -2.741         0              270            180
  58  StoveKnob       -0.336         1.338          -2.741         0              270            180
  59  StoveKnob       -0.569         1.338          -2.741         0              270            180
  60  StoveKnob       -0.707         1.338          -2.741         0              270            180
  61  Fridge          1.013          0.227          1.917          0              270            0
  62  Microwave       0.994          1.310          -2.163         0              270            0
  63  GarbageCan      -1.633         0.212          2.192          0              270            0
  64  LightSwitch     1.386          1.565          -0.657         0              270            0
  65  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  66  SinkBasin       -1.835         1.039          -0.542         0              0              0
  67  ButterKnife     0.873          0.468          0.651          0              0              0
  68  Toaster         -1.885         1.310          -2.512         0              90             0
  69  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  70  Drawer          0.647          1.061          0.680          0              270            0
  71  Drawer          0.648          1.061          1.020          0              270            0
  72  Drawer          0.648          0.843          1.020          0              270            0
  73  SideTable       0.975          0.220          0.869          0              270            0
  74  Drawer          0.648          0.602          0.680          0              270            0
  75  Drawer          0.648          0.596          1.020          0              270            0
  76  Drawer          0.648          0.843          0.680          0              270            0
  77  Stool           0.606          0.222          -1.084         1.233          280.489        0
  78
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn right to walk to the counter to the left of the sink. | STEP 2: Pick up the teapot from the counter. | STEP 3: Turn right to walk to the sink. | STEP 4: Rinse the teapot in the sink, removing it afterwards. | STEP 5: Turn left to face the cabinet to the left of and under the sink. | STEP 6: Place the teapot in the cabinet. | END