Task: put a washed kettle 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           -0.5           0.900          3.25           0              0              0
   1  Potato          1.892          1.030          -0.704         0              270            0              88
   2  Potato          0.889          0.935          -1.318         0              0              0              67
   3  Kettle          1.765          0.938          0.601          0              180            0              49
   4  DishSponge      1.932          0.911          0.182          0              0              0              67
   5  DishSponge      -0.106         0.925          -0.190         0              0              0              75
   6  ButterKnife     0.000          0.925          0.970          0              90             0              75
   7  ButterKnife     1.574          0.911          -1.513         0              0              0              67
   8  Fork            1.712          0.545          1.284          0              0              0              65
   9  Fork            -0.213         0.926          1.202          0              90             0              75
  10  Spatula         1.824          0.777          1.292          0              0              0              73
  11  Spatula         1.862          0.476          1.088          0              90             0              65
  12  Pot             -0.213         0.929          0.970          0              0              0              75
  13  Egg             -1.692         0.620          -0.081         0              90             0              90
  14  Cup             -1.789         1.027          0.201          0              90             0              90
  15  Cup             0.321          0.923          0.506          0              0              0              75
  16  Plate           0.107          0.924          0.273          0              0              0              75
  17  Knife           1.900          0.933          1.408          0              270            0              67
  18  PepperShaker    -0.320         0.921          0.273          0              0              0              75
  19  Bread           -0.213         1.006          0.506          0              0              0              75
  20  Bread           -0.213         1.006          0.273          0              0              0              75
  21  Mug             -0.213         0.920          0.738          0              0              0              75
  22  SoapBottle      1.813          0.915          1.408          0              0              0              67
  23  Cup             2.020          1.004          -0.704         0              270            0              88
  24  Pot             1.975          0.938          0.819          0              180            0              77
  25  Fork            1.658          0.583          0.052          0              270            0              52
  26  Ladle           1.769          0.806          1.147          0              270            0              73
  27  Kettle          1.765          0.938          0.384          0              180            0              70
  28  Egg             -1.796         0.098          1.371          0              270            0              81
  29  Plate           0.107          0.924          0.738          0              0              0              75
  30  Pan             -1.286         0.9            -1.348         0              79.769         0              67
  31  Lettuce         0.000          1.002          1.202          0              0              0              75
  32  Spatula         1.746          0.926          0.103          0              180            0              67
  33  Apple           -1.645         1.522          0.107          0              90             0              90
  34  Knife           0.110          0.921          0.073          90             5.007          0              75
  35  SaltShaker      -0.802         0.667          -1.240         0              0              0              58
  36  PepperShaker    1.802          0.907          -1.415         0              0              0              67
  37  CellPhone       1.815          0.224          0.531          0              0              0              61
  38  ButterKnife     1.760          0.695          -0.015         0              0              0              51
  39  Bread           0.258          0.987          -0.093         0              331.034        0              75
  40  Tomato          0.169          0.974          -0.281         0              351.734        0              75
  41  Potato          1.802          0.935          -1.513         0              0              0              67
  42  DishSponge      1.713          0.469          -0.157         0              0              0              63
  43  Spoon           1.712          0.226          1.219          0              0              0              76
  44  Mug             -1.771         1.024          -0.081         0              90             0              90
  45  Bowl            -1.750         1.674          -0.175         0              90             0              90
  46  Cabinet         -0.495         0.474          -1.149         0              0              0
  47  Window          -0.010         1.582          -1.821         0              0              0
  48  Drawer          0.805          0.475          -1.159         0              0              0
  49  StoveBurner     1.764          0.902          0.601          0              270            0
  50  Drawer          1.5            0.196          -0.019         0              0              0
  51  Drawer          1.5            0.629          -0.018         0              0              0
  52  Drawer          1.5            0.602          -0.019         0              270            0
  53  StoveBurner     1.975          0.902          0.384          0              270            0
  54  Cabinet         -1.703         2.022          -1.453         0              90             0
  55  Cabinet         1.789          2.019          -0.819         0              270            0
  56  Cabinet         0.494          0.474          -1.149         0              0              0
  57  Cabinet         0.409          0.475          0.444          0              0              0
  58  Drawer          -0.696         0.475          -1.159         0              0              0
  59  Drawer          1.5            0.140          0.599          0              270            0
  60  Cabinet         1.389          0.474          -1.149         0              0              0
  61  Drawer          1.5            0.305          0.600          0              0              0
  62  StoveBurner     1.975          0.902          0.601          0              270            0
  63  Drawer          1.5            0.429          -0.019         0              0              0
  64  StoveBurner     1.764          0.902          0.819          0              270            0
  65  Drawer          1.5            0.519          1.220          0              0              0
  66  Cabinet         1.705          2.019          -1.449         0              0              0
  67  CounterTop      0.002          0.947          -1.513         0              0              0
  68  Drawer          1.5            0.629          0.605          0              0              0
  69  Cabinet         -0.627         2.019          -1.449         0              0              0
  70  StoveBurner     1.764          0.902          0.384          0              270            0
  71  Drawer          1.5            0.538          0.600          0              0              0
  72  Sink            0.0            0.893          -1.434         0              0              0
  73  Drawer          1.5            0.782          1.220          0              270            0
  74  Window          2.217          1.565          -0.384         0              0              0
  75  CounterTop      -0.014         0.961          0.505          0              0              0
  76  Drawer          1.5            0.200          1.220          0              0              0
  77  StoveBurner     1.975          0.902          0.819          0              270            0
  78  Window          -3.240         1.616          2.693          0              270            0
  79  Cabinet         -1.389         0.474          -1.149         0              0              0
  80  LightSwitch     -0.153         1.291          3.700          0              180            0
  81  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  82  StoveKnob       1.602          0.917          0.570          0              270            180
  83  StoveKnob       1.602          0.917          0.625          0              270            180
  84  StoveKnob       1.602          0.917          0.739          0              270            180
  85  StoveKnob       1.602          0.917          0.680          0              270            180
  86  StoveKnob       1.602          0.917          0.462          0              270            180
  87  StoveKnob       1.602          0.917          0.517          0              270            180
  88  Microwave       1.932          0.899          -0.766         0              270            0
  89  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  90  Fridge          -1.764         0.0            0.014          0              90             0
  91  SinkBasin       -0.014         0.736          -1.435         0              0              0
  92  Toaster         1.977          0.900          -0.336         0              270            0
  93  Faucet          -0.020         1.137          -1.605         0              270            0
  94  Chair           -9.354         0.000          1.242          0              180            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: walk to face the stove | STEP 2: pick up kettle on left side of stove | STEP 3: walk to face sink | STEP 4: wash kettle in sink, pick up kettle from sink | STEP 5: walk right to face cabinets to right of sink | STEP 6: put kettle in bottom right cabinet | END