Task: Wash a kettle in a sink

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          0.914          2.5            0              180            0
   1  Potato          -2.022         0.947          4.231          0              0              0              40
   2  DishSponge      -2.718         0.079          3.624          0              0              0              52
   3  ButterKnife     -3.368         0.915          1.357          0              0              0              49
   4  WineBottle      -3.081         0.916          1.357          0              0              0              49
   5  Kettle          -3.424         0.966          1.971          0              0              0              48
   6  Spatula         -1.787         0.906          -0.053         0              180            0              76
   7  Spatula         -3.176         0.930          3.499          0              0              0              40
   8  Spoon           -3.081         0.916          1.524          0              0              0              49
   9  Spoon           -3.214         0.746          1.202          0              90             0              41
  10  Fork            -2.402         0.916          4.214          0              270            0              40
  11  Fork            -1.127         0.892          0.461          0              90             0              76
  12  Egg             -0.673         1.576          4.102          0              180            0              66
  13  SoapBottle      -1.787         0.891          0.049          0              90             0              76
  14  Lettuce         -3.463         1.001          1.440          0              0              0              49
  15  Bread           -1.815         0.996          4.146          0              0              0              40
  16  Apple           -1.259         0.951          0.049          0              90             0              76
  17  Egg             -0.089         1.309          4.027          0              180            0              66
  18  Knife           -3.097         0.770          2.972          0              270            0              42
  19  Fork            -1.787         0.892          0.358          0              270            0              76
  20  Bread           -1.522         0.963          0.276          0              280.313        0              76
  21  Potato          -3.537         1.578          2.172          0              90             0              71
  22  Plate           -3.005         0.904          3.677          0              0              0              40
  23  Pot             -3.144         0.963          2.374          0              0              0              43
  24  Kettle          -3.176         0.916          3.172          0              0              0              40
  25  WineBottle      -1.127         0.892          0.255          0              90             0              76
  26  Bowl            -0.206         0.985          3.863          0              180            0              66
  27  Tomato          -3.272         0.984          2.844          0              0              0              40
  28  Cup             -3.654         0.915          1.273          0              0              0              49
  29  Spatula         -1.259         0.906          0.461          0              0              0              76
  30  SoapBottle      -1.192         0.087          3.788          0              270            0              72
  31  Lettuce         -0.556         1.072          3.926          0              180            0              66
  32  Pan             -3.143         0.966          1.971          0              0              0              60
  33  Apple           -1.259         0.951          0.358          0              90             0              76
  34  SaltShaker      -1.518         0.077          3.547          0              0              0              51
  35  PepperShaker    -3.186         0.742          3.356          0              0              0              50
  36  ButterKnife     -0.994         0.891          0.358          0              90             0              76
  37  DishSponge      -3.471         1.454          3.805          0              0              0              57
  38  Spoon           -1.523         0.892          0.049          0              90             0              76
  39  Mug             -1.391         0.886          -0.053         0              90             0              76
  40  CounterTop      -3.381         0.950          3.335          0              0              0
  41  Drawer          -3.121         0.775          1.357          0              0              0
  42  Drawer          -3.121         0.777          2.916          0              0              0
  43  StoveBurner     -3.148         0.958          2.374          0              0              0
  44  Sink            -1.797         0.917          3.660          0              0              0
  45  Cabinet         -1.421         0.388          3.459          0              0              0
  46  StoveBurner     -3.424         0.958          2.374          0              0              0
  47  Cabinet         -3.365         1.931          2.676          0              0              0
  48  StoveBurner     -3.424         0.958          1.971          0              0              0
  49  CounterTop      -3.381         0.951          1.356          0              0              0
  50  Drawer          -3.121         0.781          3.295          0              0              0
  51  Cabinet         -2.205         0.388          3.459          0              0              0
  52  Cabinet         -2.963         0.388          3.459          0              0              0
  53  Cabinet         -2.992         0.388          2.683          0              0              0
  54  Cabinet         -3.352         2.205          1.715          0              0              0
  55  Cabinet         -3.352         2.205          2.653          0              0              0
  56  Cabinet         -2.189         0.388          3.466          0              0              0
  57  Cabinet         -3.365         1.931          3.963          0              0              0
  58  Cabinet         -3.365         1.931          1.056          0              0              0
  59  Cabinet         -2.992         0.388          1.037          0              0              0
  60  StoveBurner     -3.143         0.958          1.971          0              0              0
  61  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  62  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  63  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  64  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  65  Toaster         -2.654         0.902          4.064          0              180            0
  66  Fridge          -0.439         0.014          3.996          0              0              0
  67  LightSwitch     0.25           1.383          2.085          0              270            0
  68  Window          -1.430         1.338          -0.347         90             0              0
  69  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  70  SinkBasin       -1.802         0.778          3.700          0              0              0
  71  Microwave       -3.484         1.430          2.182          0              90             0
  72  GarbageCan      -1.184         -0.020         3.794          0              270            0
  73  Blinds          -1.404         2.092          -0.296         0              0              0
  74  Stool           -1.373         0.014          1.048          1.214          20.754         0
  75  Faucet          -1.788         0.903          3.931          270            90             0
  76  DiningTable     -1.399         0.010          0.238          0              0              0
  77  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Go to the counter right of the stove | STEP 2: Pick up the kettle from the counter | STEP 3: Go to the sink | STEP 4: Wash the kettle in the sink | STEP 5: Go to the counter | STEP 6: Place the kettle on the counter | END