Task: Wash a teapot to put it away under the counter.

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          0.900          -0.25          0              90             0
   1  Pan             0.214          0.925          0.273          0              0              0              72
   2  Potato          -1.783         0.863          0.013          0              90             0              87
   3  Kettle          1.765          0.938          0.384          0              180            0              67
   4  ButterKnife     0.000          0.925          1.202          0              0              0              72
   5  Spatula         2.073          0.926          1.107          0              0              0              64
   6  Egg             -1.749         0.896          0.295          0              90             0              87
   7  Egg             -1.773         0.099          1.412          0              270            0              78
   8  Cup             -0.320         0.923          0.273          0              0              0              72
   9  Cup             -1.645         1.467          0.013          0              90             0              87
  10  Knife           -0.844         0.933          -1.610         0              0              0              64
  11  SoapBottle      0.107          0.929          0.970          0              0              0              72
  12  SaltShaker      -0.106         0.921          0.041          0              0              0              72
  13  PepperShaker    -1.814         0.907          -1.063         0              0              0              64
  14  Bread           -1.697         1.756          -0.175         0              90             0              87
  15  Lettuce         -0.213         1.002          -0.190         0              0              0              72
  16  Lettuce         -0.213         1.002          0.506          0              0              0              72
  17  Mug             -1.855         1.464          0.295          0              90             0              87
  18  Mug             -0.320         0.920          0.041          0              0              0              72
  19  SoapBottle      -0.320         0.929          0.970          0              0              0              72
  20  Cup             1.988          1.004          -0.599         0              270            0              85
  21  Pot             1.975          0.938          0.601          0              180            0              59
  22  Fork            -0.213         0.926          0.273          0              0              0              72
  23  Ladle           1.653          0.955          -0.210         0              0              0              64
  24  Kettle          1.765          0.938          0.819          0              180            0              61
  25  Egg             2.020          1.063          -0.756         0              270            0              85
  26  Plate           1.322          1.670          -1.595         0              0              0              63
  27  Pan             -1.286         0.9            -1.348         0              79.769         0              64
  28  Lettuce         -1.551         0.988          -0.964         0              0              0              64
  29  Spatula         1.746          0.926          0.103          0              180            0              64
  30  Apple           -1.648         0.892          0.295          0              90             0              87
  31  Knife           0.661          0.933          -1.221         0              180            0              64
  32  SaltShaker      -0.106         0.921          0.738          0              0              0              72
  33  PepperShaker    1.986          0.907          1.333          0              0              0              64
  34  CellPhone       1.810          0.693          0.048          0              0              0              48
  35  ButterKnife     0.661          0.911          -1.415         0              0              0              64
  36  Bread           0.107          1.006          0.506          0              0              0              72
  37  Tomato          0.321          0.980          0.041          0              0              0              72
  38  Potato          1.924          1.030          -0.756         0              270            0              85
  39  DishSponge      0.321          0.925          0.738          0              0              0              72
  40  Spoon           0.107          0.926          0.041          0              0              0              72
  41  Mug             -0.106         0.920          0.273          0              0              0              72
  42  Bowl            0.276          0.914          1.091          0              0              0              72
  43  Cabinet         -0.495         0.474          -1.149         0              0              0
  44  Window          -0.010         1.582          -1.821         0              0              0
  45  Drawer          0.805          0.475          -1.159         0              0              0
  46  StoveBurner     1.764          0.902          0.601          0              270            0
  47  Drawer          1.5            0.196          -0.019         0              0              0
  48  Drawer          1.5            0.629          -0.018         0              0              0
  49  Drawer          1.5            0.602          -0.019         0              270            0
  50  StoveBurner     1.975          0.902          0.384          0              270            0
  51  Cabinet         -1.703         2.022          -1.453         0              90             0
  52  Cabinet         1.789          2.019          -0.819         0              270            0
  53  Cabinet         0.494          0.474          -1.149         0              0              0
  54  Cabinet         0.409          0.475          0.444          0              0              0
  55  Drawer          -0.696         0.475          -1.159         0              0              0
  56  Drawer          1.5            0.140          0.599          0              270            0
  57  Cabinet         1.389          0.474          -1.149         0              0              0
  58  Drawer          1.5            0.305          0.600          0              0              0
  59  StoveBurner     1.975          0.902          0.601          0              270            0
  60  Drawer          1.5            0.429          -0.019         0              0              0
  61  StoveBurner     1.764          0.902          0.819          0              270            0
  62  Drawer          1.5            0.519          1.220          0              0              0
  63  Cabinet         1.705          2.019          -1.449         0              0              0
  64  CounterTop      0.002          0.947          -1.513         0              0              0
  65  Drawer          1.5            0.629          0.605          0              0              0
  66  Cabinet         -0.627         2.019          -1.449         0              0              0
  67  StoveBurner     1.764          0.902          0.384          0              270            0
  68  Drawer          1.5            0.538          0.600          0              0              0
  69  Sink            0.0            0.893          -1.434         0              0              0
  70  Drawer          1.5            0.782          1.220          0              270            0
  71  Window          2.217          1.565          -0.384         0              0              0
  72  CounterTop      -0.014         0.961          0.505          0              0              0
  73  Drawer          1.5            0.200          1.220          0              0              0
  74  StoveBurner     1.975          0.902          0.819          0              270            0
  75  Window          -3.240         1.616          2.693          0              270            0
  76  Cabinet         -1.389         0.474          -1.149         0              0              0
  77  LightSwitch     -0.153         1.291          3.700          0              180            0
  78  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  79  StoveKnob       1.602          0.917          0.570          0              270            180
  80  StoveKnob       1.602          0.917          0.625          0              270            180
  81  StoveKnob       1.602          0.917          0.739          0              270            180
  82  StoveKnob       1.602          0.917          0.680          0              270            180
  83  StoveKnob       1.602          0.917          0.462          0              270            180
  84  StoveKnob       1.602          0.917          0.517          0              270            180
  85  Microwave       1.932          0.899          -0.766         0              270            0
  86  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  87  Fridge          -1.764         0.0            0.014          0              90             0
  88  SinkBasin       -0.014         0.736          -1.435         0              0              0
  89  Toaster         1.977          0.900          -0.336         0              270            0
  90  Faucet          -0.020         1.137          -1.605         0              270            0
  91  Chair           -9.354         0.000          1.242          0              180            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Walk around the kitchen island, hanging a left to reach the stove. | STEP 2: Pick up the teapot on the left from the stovetop. | STEP 3: Turn right and hang a right to reach the sink. | STEP 4: Rinse the teapot in the sink. | STEP 5: Turn to face the cabinets under the counter to the right of the sink. | STEP 6: Place the teapot in the farthest right cabinet. | END