Task: Rinse a tea pot and put it away.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          0.25           0              270            0
   1  Vase            -2.050         0.120          -1.580         0              0              0              54
   2  Book            0.571          0.908          -1.471         0              0              0              53
   3  Book            -1.649         0.116          -1.066         0              0              0              58
   4  DishSponge      -1.849         0.911          -0.939         0              0              0              53
   5  Spatula         -2.510         0.889          3.053          0              90             0              55
   6  Pot             0.974          0.957          -1.419         0              180            0              71
   7  Fork            1.760          0.910          -1.618         0              90             0              73
   8  Plate           0.079          1.576          2.219          0              180            0              78
   9  SoapBottle      -0.871         0.193          2.097          0              90             0              83
  10  SoapBottle      -1.331         1.657          -1.747         0              0              0              66
  11  Tomato          -2.321         0.922          3.444          0              270            0              55
  12  Tomato          0.571          0.959          -1.776         0              0              0              53
  13  SaltShaker      -2.015         0.714          -1.579         0              0              0              72
  14  SaltShaker      -2.584         0.874          3.053          0              0              0              55
  15  PepperShaker    -2.114         0.715          -1.372         0              0              0              72
  16  Bread           -2.405         0.958          2.758          0              135            0              55
  17  Lettuce         -0.833         0.977          -1.572         0              270            0              53
  18  Mug             1.210          1.756          -1.663         0              0              0              77
  19  Mug             1.269          2.150          -1.713         0              0              0              51
  20  Apple           -0.149         1.627          2.219          0              180            0              78
  21  Book            -2.072         0.908          -0.939         0              0              0              53
  22  Fork            -0.942         0.912          -1.471         0              90             0              53
  23  Tomato          -2.859         0.922          3.737          0              135            0              55
  24  Egg             0.079          0.414          2.025          0              180            0              78
  25  Kettle          -1.961         0.913          -1.591         0              0              0              53
  26  Vase            0.633          0.117          -1.370         0              0              0              60
  27  Cup             0.193          0.801          2.308          0              180            0              78
  28  WineBottle      -2.058         1.658          -1.747         0              0              0              49
  29  Plate           -1.627         0.916          -1.265         0              0              0              53
  30  Spatula         -2.950         0.889          3.035          0              225            0              55
  31  Potato          0.193          0.425          2.083          0              180            0              78
  32  Pot             0.974          0.957          -1.688         0              180            0              52
  33  Knife           -2.436         0.900          3.390          0              90             0              55
  34  SaltShaker      1.680          0.111          -1.375         0              0              0              59
  35  PepperShaker    -2.015         0.714          -1.372         0              0              0              72
  36  Lettuce         1.651          0.975          -1.346         0              0              0              73
  37  ButterKnife     -1.849         0.912          0.363          0              0              0              53
  38  Bread           -3.069         0.958          3.527          0              135            0              55
  39  Vase            -1.831         1.658          -1.674         0              0              0              49
  40  DishSponge      1.029          2.156          -1.784         0              0              0              67
  41  Apple           -2.673         0.933          3.446          0              135            0              55
  42  Pan             1.328          0.957          -1.420         0              180            0              57
  43  Spoon           1.730          0.720          -1.377         0              270            0              69
  44  SoapBottle      -2.584         0.879          3.728          0              0              0              55
  45  Mug             -0.348         0.116          -1.492         0              90             0              62
  46  Statue          -1.627         0.919          -0.614         0              180            0              53
  47  Statue          -3.069         0.877          2.916          0              225            0              55
  48  Bowl            -0.263         0.800          2.137          0              180            0              78
  49  Cabinet         -2.171         2.009          -1.538         0              0              0
  50  Sink            0.024          0.771          -1.708         0              270            0
  51  Cabinet         1.444          2.259          -1.542         0              0              0
  52  StoveBurner     0.974          0.957          -1.688         0              180            0
  53  CounterTop      -1.866         0.947          -0.614         0              0              0
  54  Cabinet         -2.217         0.373          -1.874         0              0              0
  55  DiningTable     -2.663         0.002          3.208          0              0              0
  56  StoveBurner     1.328          0.957          -1.688         0              180            0
  57  StoveBurner     1.328          0.957          -1.420         0              180            0
  58  Cabinet         -1.478         0.373          -1.235         0              0              0
  59  Cabinet         1.775          0.372          -1.242         0              0              0
  60  Cabinet         0.774          0.372          -1.242         0              0              0
  61  Cabinet         0.375          0.372          -1.242         0              0              0
  62  Cabinet         -0.574         0.372          -1.238         0              0              0
  63  Cabinet         1.775          2.009          -1.542         0              0              0
  64  Cabinet         0.524          2.009          -1.542         0              0              0
  65  Cabinet         -0.714         2.009          -1.542         0              0              0
  66  Cabinet         -1.671         2.009          -1.538         0              0              0
  67  Cabinet         0.854          2.259          -1.542         0              0              0
  68  Drawer          -1.636         0.683          -0.930         0              0              0
  69  Drawer          1.650          0.682          -1.396         0              0              0
  70  Drawer          0.600          0.682          -1.396         0              0              0
  71  StoveBurner     0.974          0.957          -1.419         0              180            0
  72  Drawer          -2.062         0.683          -1.579         0              0              0
  73  CounterTop      1.645          0.945          -1.527         0              0              0
  74  Shelf           3.725          0.880          1.671          0              90             0
  75  LightSwitch     2.830          1.266          -0.748         0              0              0
  76  Shelf           3.726          0.552          1.671          0              90             0
  77  Microwave       1.150          1.655          -1.614         0              0              0
  78  Fridge          -0.035         0.0            2.177          0              180            0
  79  Window          -0.115         1.802          -1.896         90             0              0
  80  Window          -4.009         1.799          0.310          90             90             0
  81  Shelf           3.726          0.172          1.671          0              90             0
  82  SinkBasin       -0.330         0.686          -1.581         0              270            0
  83  GarbageCan      -0.870         -0.001         2.136          0              90             0
  84  StoveKnob       1.089          0.913          -1.243         45             0              0
  85  StoveKnob       1.208          0.913          -1.243         45             0              0
  86  StoveKnob       1.340          0.913          -1.243         45             0              0
  87  StoveKnob       0.961          0.913          -1.243         45             0              0
  88  Toaster         1.637          0.900          -1.673         0              0              0
  89  Chair           -3.505         0.002          3.290          0              105.736        0
  90  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  91  HousePlant      -2.663         0.835          3.209          0              0              0
  92  Faucet          -0.187         0.922          -1.75          0              311.166        0
  93  ShelvingUnit    3.726          0.006          1.671          0              90             0
  94  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  95  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  96  Chair           -2.934         0.002          2.437          0              28.531         0
  97  Chair           -1.698         0.002          3.235          0              245.204        0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn to the right and then the left to go around to the far side of the counter. | STEP 2: Pick up the tea pot on the right side of the counter. | STEP 3: Carry the tea pot and turn left, then right to go around the counter. Go to the sink on the right. | STEP 4: Place the tea pot in the sink and turn the water on. Turn the water off and pick up the tea pot. | STEP 5: Carry the teapot and turn around. Then turn right to find the brown shelf in the corner. | STEP 6: Place the tea pot on the next to bottom shelf. | END