Task: Put a tea kettle under the sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          2.75           0              270            0
   1  Pan             1.562          0.988          3.848          0              0              0              48
   2  Potato          1.907          0.115          6.498          0              0              0              78
   3  Potato          2.137          1.550          5.376          0              270            0              76
   4  Spoon           0.600          0.773          0.507          0              0              0              46
   5  Spoon           -0.481         0.772          0.620          0              0              0              50
   6  Fork            0.803          0.772          0.451          0              0              0              46
   7  Egg             0.168          1.135          0.213          0              0              0              70
   8  Egg             2.094          1.565          5.501          0              270            0              76
   9  Cup             0.923          0.988          0.120          0              0              0              54
  10  Knife           -0.487         0.789          6.807          0              135            0              90
  11  Knife           -0.621         0.789          6.479          0              270            0              90
  12  SoapBottle      1.135          0.992          4.762          0              0              0              55
  13  SoapBottle      2.055          0.080          6.409          0              0              0              78
  14  PepperShaker    -0.535         0.987          0.670          0              0              0              54
  15  SaltShaker      0.300          0.755          6.284          0              135            0              90
  16  Bread           -0.422         0.829          6.653          0              135            0              90
  17  Mug             -0.384         0.987          0.670          0              0              0              54
  18  Mug             0.064          1.092          0.245          0              0              0              70
  19  Bowl            1.582          0.991          0.440          0              0              0              54
  20  Bread           0.150          0.829          6.541          0              270            0              90
  21  Egg             0.028          0.810          6.169          0              0              0              90
  22  Knife           -0.413         0.802          0.563          0              270            0              50
  23  Fork            -0.159         0.760          6.787          0              0              0              90
  24  Apple           2.094          1.590          5.626          0              270            0              76
  25  Kettle          1.593          0.981          3.25           0              255.000        0              54
  26  Plate           -0.232         0.752          6.060          0              19.421         0              90
  27  SaltShaker      1.403          0.987          1.577          0              0              0              54
  28  Lettuce         -0.459         1.081          0.486          0              0              0              54
  29  SoapBottle      1.314          0.992          0.440          0              0              0              54
  30  Spatula         -0.334         0.775          6.742          0              225            0              90
  31  PaperTowelRoll  -0.465         0.864          6.349          0              225            0              90
  32  Pot             1.32           0.988          3.848          0              0              0              53
  33  Potato          1.403          1.027          3.417          0              0              0              54
  34  ButterKnife     -0.687         0.992          0.303          0              0              0              54
  35  PepperShaker    -0.003         0.755          6.291          0              90             0              90
  36  Pan             1.559          0.988          4.294          0              0              0              52
  37  Tomato          2.137          1.565          6.001          0              270            0              76
  38  DishSponge      1.405          0.771          4.753          0              0              0              44
  39  Cup             2.137          1.511          5.876          0              270            0              76
  40  Spoon           -0.617         0.772          0.507          0              0              0              50
  41  Mug             0.273          1.092          0.310          0              270            0              70
  42  Cabinet         1.307          2.455          4.360          0              0              0
  43  Cabinet         1.054          0.422          1.710          0              0              0
  44  Drawer          1.280          0.808          4.718          0              0              0
  45  Cabinet         1.307          2.455          3.607          0              0              0
  46  Drawer          0.736          0.802          0.521          0              0              0
  47  Drawer          1.276          0.802          3.291          0              0              0
  48  StoveBurner     1.562          0.982          3.848          0              0              0
  49  StoveBurner     1.317          0.982          4.294          0              0              0
  50  Drawer          -0.482         0.802          0.521          0              0              0
  51  Drawer          0.124          0.802          0.521          0              0              0
  52  StoveBurner     1.559          0.982          4.294          0              0              0
  53  StoveBurner     1.320          0.982          3.848          0              0              0
  54  CounterTop      1.391          1.028          0.897          0              0              0
  55  CounterTop      1.391          1.028          4.716          0              0              0
  56  Cabinet         1.054          0.422          4.548          0              0              0
  57  Cabinet         1.317          2.134          0.517          0              0              0
  58  Cabinet         1.317          2.134          4.889          0              0              0
  59  Cabinet         1.317          2.134          3.095          0              0              0
  60  Cabinet         0.443          0.422          0.743          0              0              0
  61  Cabinet         1.270          2.134          0.434          0              0              0
  62  Cabinet         -0.775         0.422          0.743          0              0              0
  63  Cabinet         -0.168         0.422          0.743          0              0              0
  64  Cabinet         1.317          2.134          1.534          0              0              0
  65  Cabinet         1.054          0.422          2.990          0              0              0
  66  Cabinet         1.054          0.422          2.944          0              0              0
  67  Cabinet         -0.263         2.134          0.434          0              0              0
  68  Cabinet         0.252          2.134          0.434          0              0              0
  69  Sink            1.391          1.006          2.326          0              0              0
  70  Microwave       0.108          0.981          0.262          0              0              0
  71  HousePlant      -0.165         0.826          6.444          0              0              0
  72  CoffeeMachine   1.551          0.982          0.953          0              270            0
  73  Toaster         1.473          0.981          4.715          0              270            0
  74  Window          -2.065         1.916          3.626          90             90             0
  75  Window          1.763          2.007          2.299          90             270            0
  76  Fridge          2.035          0.0            5.625          0              0              0
  77  SinkBasin       1.387          0.880          2.338          0              90             0
  78  GarbageCan      2.001          -0.044         6.503          0              0              0
  79  StoveKnob       1.140          0.934          3.987          45             270            0
  80  StoveKnob       1.140          0.934          4.309          45             270            0
  81  StoveKnob       1.140          0.934          4.140          45             270            0
  82  StoveKnob       1.140          0.934          3.824          45             270            0
  83  Vase            -0.226         0.834          6.993          0              0              0
  84  Vase            2.098          0.043          7.070          0              257.232        0
  85  Vase            -0.594         0.835          6.130          0              225            0
  86  LightSwitch     -2.0           1.549          6.045          0              90             0
  87  Safe            2.046          1.072          7.054          0              257.232        0
  88  Faucet          1.534          1.025          2.371          0              294.391        0
  89  Blinds          1.738          2.563          2.312          0              90             0
  90  DiningTable     -0.156         0.000          6.474          0              0              0
  91  Chair           0.291          0.002          6.142          0              310.162        0
  92  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Move to the counter to the left of the sink | STEP 2: Pick up kettle from the counter | STEP 3: Move to the sink on the right | STEP 4: Clean the kettle in the sink | STEP 5: Move to the cabinet in front of the sink | STEP 6: Put the kettle in the cabinet | END