Task: Put the tea kettle in the cabinet 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           0.25           0.900          4.25           0              270            0
   1  Potato          2.009          1.550          5.626          0              270            0              73
   2  DishSponge      2.055          0.080          6.439          0              0              0              75
   3  Kettle          1.562          0.988          3.848          0              0              0              45
   4  Pot             1.317          0.988          4.294          0              0              0              46
   5  Spoon           1.236          0.772          3.360          0              0              0              44
   6  Egg             1.966          1.565          5.251          0              270            0              73
   7  Cup             0.064          1.093          0.213          0              0              0              67
   8  Knife           0.056          0.801          0.451          0              90             0              48
   9  Tomato          2.094          1.565          5.501          0              270            0              73
  10  Bowl            1.314          0.991          0.440          0              0              0              51
  11  Bowl            -0.621         0.143          0.582          0              0              0              59
  12  PepperShaker    -0.346         0.755          6.632          0              0              0              87
  13  SaltShaker      -0.028         0.755          6.786          0              225            0              87
  14  SaltShaker      0.958          1.574          0.383          0              0              0              65
  15  Apple           2.137          1.590          6.001          0              270            0              73
  16  Bowl            1.456          1.576          1.227          0              0              0              61
  17  Bread           -0.611         1.062          0.486          0              0              0              51
  18  Egg             1.276          0.940          2.085          0              90             0              74
  19  Knife           0.532          0.802          0.451          0              90             0              43
  20  Fork            1.348          0.772          3.429          0              180            0              44
  21  Apple           -0.003         0.834          6.604          0              270            0              87
  22  Kettle          1.593          0.981          3.25           0              255.000        0              51
  23  Plate           0.167          0.760          6.151          0              135            0              87
  24  SaltShaker      -0.467         0.755          6.416          0              270            0              87
  25  Lettuce         1.449          0.932          2.050          0              0              0              74
  26  SoapBottle      0.150          0.760          6.541          0              180            0              87
  27  Spatula         0.124          0.786          0.618          0              270            0              48
  28  PaperTowelRoll  -0.530         0.864          6.196          0              225            0              87
  29  Pot             1.32           0.988          3.848          0              0              0              50
  30  Potato          1.966          1.550          6.001          0              270            0              73
  31  ButterKnife     0.305          0.760          6.604          0              0              0              87
  32  PepperShaker    0.301          0.755          6.674          0              225            0              87
  33  Pan             1.313          0.985          4.284          0              0              0              46
  34  Tomato          0.305          0.809          6.291          0              270            0              87
  35  DishSponge      -0.138         0.759          6.282          0              135            0              87
  36  Cup             1.657          0.136          2.159          0              0              0              40
  37  Spoon           1.236          0.772          3.223          0              0              0              44
  38  Mug             0.273          1.092          0.245          0              0              0              67
  39  Cabinet         1.307          2.455          4.360          0              0              0
  40  Cabinet         1.054          0.422          1.710          0              0              0
  41  Drawer          1.280          0.808          4.718          0              0              0
  42  Cabinet         1.307          2.455          3.607          0              0              0
  43  Drawer          0.736          0.802          0.521          0              0              0
  44  Drawer          1.276          0.802          3.291          0              0              0
  45  StoveBurner     1.562          0.982          3.848          0              0              0
  46  StoveBurner     1.317          0.982          4.294          0              0              0
  47  Drawer          -0.482         0.802          0.521          0              0              0
  48  Drawer          0.124          0.802          0.521          0              0              0
  49  StoveBurner     1.559          0.982          4.294          0              0              0
  50  StoveBurner     1.320          0.982          3.848          0              0              0
  51  CounterTop      1.391          1.028          0.897          0              0              0
  52  CounterTop      1.391          1.028          4.716          0              0              0
  53  Cabinet         1.054          0.422          4.548          0              0              0
  54  Cabinet         1.317          2.134          0.517          0              0              0
  55  Cabinet         1.317          2.134          4.889          0              0              0
  56  Cabinet         1.317          2.134          3.095          0              0              0
  57  Cabinet         0.443          0.422          0.743          0              0              0
  58  Cabinet         1.270          2.134          0.434          0              0              0
  59  Cabinet         -0.775         0.422          0.743          0              0              0
  60  Cabinet         -0.168         0.422          0.743          0              0              0
  61  Cabinet         1.317          2.134          1.534          0              0              0
  62  Cabinet         1.054          0.422          2.990          0              0              0
  63  Cabinet         1.054          0.422          2.944          0              0              0
  64  Cabinet         -0.263         2.134          0.434          0              0              0
  65  Cabinet         0.252          2.134          0.434          0              0              0
  66  Sink            1.391          1.006          2.326          0              0              0
  67  Microwave       0.108          0.981          0.262          0              0              0
  68  HousePlant      -0.165         0.826          6.444          0              0              0
  69  CoffeeMachine   1.551          0.982          0.953          0              270            0
  70  Toaster         1.473          0.981          4.715          0              270            0
  71  Window          -2.065         1.916          3.626          90             90             0
  72  Window          1.763          2.007          2.299          90             270            0
  73  Fridge          2.035          0.0            5.625          0              0              0
  74  SinkBasin       1.387          0.880          2.338          0              90             0
  75  GarbageCan      2.001          -0.044         6.503          0              0              0
  76  StoveKnob       1.140          0.934          3.987          45             270            0
  77  StoveKnob       1.140          0.934          4.309          45             270            0
  78  StoveKnob       1.140          0.934          4.140          45             270            0
  79  StoveKnob       1.140          0.934          3.824          45             270            0
  80  Vase            -0.226         0.834          6.993          0              0              0
  81  Vase            2.098          0.043          7.070          0              257.232        0
  82  Vase            -0.594         0.835          6.130          0              225            0
  83  LightSwitch     -2.0           1.549          6.045          0              90             0
  84  Safe            2.046          1.072          7.054          0              257.232        0
  85  Faucet          1.534          1.025          2.371          0              294.391        0
  86  Blinds          1.738          2.563          2.312          0              90             0
  87  DiningTable     -0.156         0.000          6.474          0              0              0
  88  Chair           0.291          0.002          6.142          0              310.162        0
  89  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn around to face the kitchen counter. | STEP 2: Pick up the tea kettle on the kitchen counter. | STEP 3: Move to face the cabinet under the counter on the right side of the sink. | STEP 4: Place the tea kettle in the rightmost, lower cabinet. | END